US20220313386A1 - Navigated surgical system with eye to xr headset display calibration - Google Patents
Navigated surgical system with eye to xr headset display calibration Download PDFInfo
- Publication number
- US20220313386A1 US20220313386A1 US17/846,259 US202217846259A US2022313386A1 US 20220313386 A1 US20220313386 A1 US 20220313386A1 US 202217846259 A US202217846259 A US 202217846259A US 2022313386 A1 US2022313386 A1 US 2022313386A1
- Authority
- US
- United States
- Prior art keywords
- headset
- pose
- tracking
- display
- user
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001356 surgical procedure Methods 0.000 claims abstract description 53
- 238000000034 method Methods 0.000 claims description 50
- 230000003287 optical effect Effects 0.000 claims description 9
- 210000001747 pupil Anatomy 0.000 claims description 5
- 239000012636 effector Substances 0.000 description 48
- 210000003484 anatomy Anatomy 0.000 description 42
- 230000033001 locomotion Effects 0.000 description 33
- 238000003384 imaging method Methods 0.000 description 28
- 238000010586 diagram Methods 0.000 description 21
- 230000006870 function Effects 0.000 description 18
- 239000003826 tablet Substances 0.000 description 18
- 101100347655 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) NAB3 gene Proteins 0.000 description 16
- 239000007943 implant Substances 0.000 description 16
- 238000012545 processing Methods 0.000 description 11
- 238000004891 communication Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 9
- 230000004913 activation Effects 0.000 description 7
- 238000003491 array Methods 0.000 description 7
- 238000009826 distribution Methods 0.000 description 7
- 210000003128 head Anatomy 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 7
- 230000003190 augmentative effect Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 3
- 238000002591 computed tomography Methods 0.000 description 3
- 230000000881 depressing effect Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 210000003127 knee Anatomy 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 238000007792 addition Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 238000006731 degradation reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000002059 diagnostic imaging Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 210000003041 ligament Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000000399 orthopedic effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010002091 Anaesthesia Diseases 0.000 description 1
- 240000007320 Pinus strobus Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000037005 anaesthesia Effects 0.000 description 1
- 230000003416 augmentation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000010267 cellular communication Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011540 hip replacement Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 238000013150 knee replacement Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/0093—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 with means for monitoring data relating to the user, e.g. head-tracking, eye-tracking
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0179—Display position adjusting means not related to the information to be displayed
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/0304—Detection arrangements using opto-electronic means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
- G06F3/147—Digital output to display device ; Cooperation and interconnection of the display device with other functional units using display panels
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/285—Analysis of motion using a sequence of stereo image pairs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
- G09G5/36—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the display of a graphic pattern, e.g. using an all-points-addressable [APA] memory
- G09G5/38—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the display of a graphic pattern, e.g. using an all-points-addressable [APA] memory with means for controlling the display position
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H30/00—ICT specially adapted for the handling or processing of medical images
- G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
- G16H50/20—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/246—Calibration of cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
- H04N13/344—Displays for viewing with the aid of special glasses or head-mounted displays [HMD] with head-mounted left-right displays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00725—Calibration or performance testing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00973—Surgical instruments, devices or methods, e.g. tourniquets pedal-operated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/368—Correlation of different images or relation of image positions in respect to the body changing the image on a display according to the operator's position
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/372—Details of monitor hardware
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/502—Headgear, e.g. helmet, spectacles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/04—Constructional details of apparatus
- A61B2560/0437—Trolley or cart-type apparatus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/46—Arrangements for interfacing with the operator or the patient
- A61B6/461—Displaying means of special interest
- A61B6/466—Displaying means of special interest adapted to display 3D data
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0179—Display position adjusting means not related to the information to be displayed
- G02B2027/0187—Display position adjusting means not related to the information to be displayed slaved to motion of at least a part of the body of the user, e.g. head, eye
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
- G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G2320/00—Control of display operating conditions
- G09G2320/06—Adjustment of display parameters
- G09G2320/0693—Calibration of display systems
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G2354/00—Aspects of interface with display user
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G2380/00—Specific applications
- G09G2380/08—Biomedical applications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0085—Motion estimation from stereoscopic image signals
Definitions
- the present disclosure relates to medical devices and systems, and more particularly, camera tracking systems used for computer assisted navigation during surgery.
- Computer assisted navigation in surgery provides surgeons with enhanced visualization of surgical instruments with respect to radiographic images of the patient's anatomy.
- Navigated surgeries typically include components for tracking the position and orientation of surgical instruments via arrays of disks or spheres using a single stereo camera system.
- Eye tracking can have major advantages in wearable extended reality display systems. Eye tracking allows for more accurate overlays of virtual content displayed on the physical world, and proper warping of the frames being sent to the displays for more realistic content.
- Eye tracking can be expensive, bulky, and difficult to integrate. It normally requires 2-4 cameras as well as infrared strobes which need to see/shine on the pupils to be mounted inside of a headset. This set up requires specific positioning of the eye tracker which may not be possible in certain headset/optic designs.
- One additional downfall to adding the necessary equipment is that the additions also increase the weight and size of an augmented reality headset.
- Various embodiments disclosed herein are directed to improvements in eye tracking for calibrating pose of a user's eyes to a display device of an extended reality (XR) headset during computer assisted navigation during surgery.
- XR extended reality
- a camera tracking system for computer assisted navigation during surgery operatively determines a first pose of a second XR headset relative to stereo tracking cameras located on a first XR headset based on first tracking information from the stereo tracking cameras.
- the camera tracking system determines a second pose of eyes of a user wearing the second XR headset relative to the stereo tracking cameras located on the first XR headset based on second tracking information from the stereo tracking cameras.
- the camera tracking system also calibrates an eye-to-display relationship defining pose of the eyes of the user wearing the second XR headset to a display device of the second XR headset based on the determined first and second poses.
- the camera tracking system also controls where symbols are displayed on the display device of the second XR headset based on the eye-to-display relationship.
- FIG. 1 illustrates an embodiment of a surgical system according to some embodiments of the present disclosure
- FIG. 2 illustrates a surgical robot component of the surgical system of FIG. 1 according to some embodiments of the present disclosure
- FIG. 3A illustrates a camera tracking system component of the surgical system of FIG. 1 according to some embodiments of the present disclosure
- FIGS. 3B and 3C illustrate a front view and isometric view of another camera tracking system component which may be used with the surgical system of FIG. 1 according to some embodiments of the present disclosure
- FIG. 4 illustrates an embodiment of an end effector that is connectable to a robot arm and configured according to some embodiments of the present disclosure
- FIG. 5 illustrates a medical operation in which a surgical robot and a camera system are disposed around a patient
- FIG. 6 illustrates a block diagram view of the components of the surgical system of FIG. 5 being used for a medical operation
- FIG. 7 illustrates various display screens that may be displayed on the display of FIGS. 5 and 6 when using a navigation function of the surgical system
- FIG. 8 illustrates a block diagram of some electrical components of a surgical robot according to some embodiments of the present disclosure
- FIG. 9 illustrates a block diagram of components of a surgical system that includes imaging devices connected to a computer platform which can be operationally connected to a camera tracking system and/or surgical robot according to some embodiments of the present disclosure
- FIG. 10 illustrates an embodiment of a C-Arm imaging device that can be used in combination with the surgical robot in accordance with some embodiments of the present disclosure
- FIG. 11 illustrates an embodiment of an O-Arm imaging device that can be used in combination with the surgical robot in accordance with some embodiments of the present disclosure
- FIG. 12 illustrates a block diagram view of the components of a surgical system that includes a pair of XR headsets and an auxiliary tracking bar which operate in accordance with some embodiments of the present disclosure
- FIG. 13 illustrates an XR headset which is configured in accordance with some embodiments of the present disclosure
- FIG. 14 illustrates electrical components of the XR headset that can be operatively connected to a computer platform, imaging device(s), and/or a surgical robot in accordance with some embodiments of the present disclosure
- FIG. 15 illustrates a block diagram showing arrangement of optical components of the XR headset in accordance with some embodiments of the present disclosure
- FIG. 16 illustrates an example view through the display screen of an XR headset for providing navigation assistance to manipulate a surgical tool during a medical procedure in accordance with some embodiments of the present disclosure
- FIG. 17 illustrates an example configuration of an auxiliary tracking bar having two pairs of stereo cameras configured in accordance with some embodiments of the present disclosure
- FIG. 18 illustrates a block diagram view of the components of a surgical system that includes tracking cameras in a pair of XR headsets and in an auxiliary tracking bar which collectively operate in accordance with some embodiments of the present disclosure
- FIG. 19 illustrates an embodiment of two users wearing XR headsets operative to track each other's eyes in accordance with some embodiments of the present disclosure
- FIG. 20 illustrates an embodiment of one user wearing an XR headset operative to tracking the user's eyes using a reflective surface accordance with some embodiments of the present disclosure
- FIG. 21 illustrates an embodiment of tracking coordinate systems for two XR headsets in accordance with some embodiments of the present disclosure.
- FIGS. 22, 23, and 24 illustrate flow charts of operations performed by a camera tracking system for calibrating eye-to-XR headset displays and responsively controlling where symbols are displayed on XR headsets in accordance with some embodiments.
- An extended reality (XR) headset is operatively connected to the surgical system and configured to provide an interactive environment through which a surgeon, assistant, and/or other personnel can view and select among patient images, view and select among computer generated surgery navigation information, and/or control surgical equipment in the operating room.
- the XR headset may be configured to augment a real-world scene with computer generated XR images.
- the XR headset may be configured to provide an augmented reality (AR) viewing environment by displaying the computer generated XR images on a see-through display screen that allows light from the real-world scene to pass therethrough for combined viewing by the user.
- AR augmented reality
- the XR headset may be configured to provide a virtual reality (VR) viewing environment by preventing or substantially preventing light from the real-world scene from being directly viewed by the user while the user is viewing the computer generated AR images on a display screen.
- An XR headset can be configured to provide both AR and VR viewing environments.
- both AR and VR viewing environments are provided by lateral bands of substantially differing opacity arranged between the see-through display screen and the real-world scene, so that a VR viewing environment is provided for XR images aligned with a high opacity band and an AR viewing environment is provided for XR images aligned with the low opacity band.
- both AR and VR viewing environments are provided by computer adjustable control of an opacity filter that variably constrains how much light from the real-world scene passes through a see-through display screen for combining with the XR images viewed by the user.
- the XR headset can also be referred to as an AR headset or a VR headset.
- FIG. 1 illustrates an embodiment of a surgical system 2 according to some embodiments of the present disclosure.
- a three-dimensional (“3D”) image scan may be taken of a planned surgical area of a patient using, e.g., the C-Arm imaging device 104 of FIG. 10 or O-Arm imaging device 106 of FIG. 11 , or from another medical imaging device such as a computed tomography (CT) image or MRI.
- CT computed tomography
- This scan can be taken pre-operatively (e.g. few weeks before procedure, most common) or intra-operatively.
- any known 3D or 2D image scan may be used in accordance with various embodiments of the surgical system 2 .
- the image scan is sent to a computer platform in communication with the surgical system 2 , such as the computer platform 910 of the surgical system 900 ( FIG. 9 ) which may include the camera tracking system component 6 , the surgical robot 4 (e.g., robot 2 in FIG. 1 ), imaging devices (e.g., C-Arm 104 , O-Arm 106 , etc.), and an image database 950 for storing image scans of patients.
- the surgical robot 4 e.g., robot 2 in FIG. 1
- imaging devices e.g., C-Arm 104 , O-Arm 106 , etc.
- an image database 950 for storing image scans of patients.
- a surgeon reviewing the image scan(s) on a display device of the computer platform 910 ( FIG. 9 ) generates a surgical plan defining a target pose for a surgical tool to be used during a surgical procedure on an anatomical structure of the patient.
- Example surgical tools can include, without limitation, drills, screw drivers, retractors, and implants such as a screws, spacers, interbody fusion devices, plates, rods, etc.
- the surgical plan defining the target plane is planned on the 3D image scan displayed on a display device.
- the term “pose” refers to the position and/or the rotational angle of one object (e.g., dynamic reference array, end effector, surgical tool, anatomical structure, etc.) relative to another object and/or to a defined coordinate system.
- a pose may therefore be defined based on only the multidimensional position of one object relative to another object and/or to a defined coordinate system, only on the multidimensional rotational angles of the object relative to another object and/or to a defined coordinate system, or on a combination of the multidimensional position and the multidimensional rotational angles.
- the term “pose” therefore is used to refer to position, rotational angle, or combination thereof.
- the surgical system 2 of FIG. 1 can assist surgeons during medical procedures by, for example, holding tools, aligning tools, using tools, guiding tools, and/or positioning tools for use.
- surgical system 2 includes a surgical robot 4 and a camera tracking system component 6 .
- the ability to mechanically couple surgical robot 4 and camera tracking system component 6 can allow for surgical system 2 to maneuver and move as a single unit, and allow surgical system 2 to have a small footprint in an area, allow easier movement through narrow passages and around turns, and allow storage within a smaller area.
- a surgical procedure may begin with the surgical system 2 moving from medical storage to a medical procedure room.
- the surgical system 2 may be maneuvered through doorways, halls, and elevators to reach a medical procedure room.
- the surgical system 2 may be physically separated into two separate and distinct systems, the surgical robot 4 and the camera tracking system component 6 .
- Surgical robot 4 may be positioned adjacent the patient at any suitable location to properly assist medical personnel.
- Camera tracking system component 6 may be positioned at the base of the patient, at the patient shoulders, or any other location suitable to track the present pose and movement of the pose of tracks portions of the surgical robot 4 and the patient.
- Surgical robot 4 and camera tracking system component 6 may be powered by an onboard power source and/or plugged into an external wall outlet.
- Surgical robot 4 may be used to assist a surgeon by holding and/or using tools during a medical procedure. To properly utilize and hold tools, surgical robot 4 may rely on a plurality of motors, computers, and/or actuators to function properly. Illustrated in FIG. 1 , robot body 8 may act as the structure in which the plurality of motors, computers, and/or actuators may be secured within surgical robot 4 . Robot body 8 may also provide support for robot telescoping support arm 16 . The size of robot body 8 may provide a solid platform supporting attached components, and may house, conceal, and protect the plurality of motors, computers, and/or actuators that may operate attached components.
- Robot base 10 may act as a lower support for surgical robot 4 .
- robot base 10 may support robot body 8 and may attach robot body 8 to a plurality of powered wheels 12 . This attachment to wheels may allow robot body 8 to move in space efficiently.
- Robot base 10 may run the length and width of robot body 8 .
- Robot base 10 may be about two inches to about 10 inches tall.
- Robot base 10 may cover, protect, and support powered wheels 12 .
- At least one powered wheel 12 may be attached to robot base 10 .
- Powered wheels 12 may attach to robot base 10 at any location. Each individual powered wheel 12 may rotate about a vertical axis in any direction.
- a motor may be disposed above, within, or adjacent to powered wheel 12 . This motor may allow for surgical system 2 to maneuver into any location and stabilize and/or level surgical system 2 .
- a rod, located within or adjacent to powered wheel 12 may be pressed into a surface by the motor.
- the rod not pictured, may be made of any suitable metal to lift surgical system 2 .
- the rod may lift powered wheel 10 , which may lift surgical system 2 , to any height required to level or otherwise fix the orientation of the surgical system 2 in relation to a patient.
- the weight of surgical system 2 supported through small contact areas by the rod on each wheel, prevents surgical system 2 from moving during a medical procedure. This rigid positioning may prevent objects and/or people from moving surgical system 2 by accident.
- Moving surgical system 2 may be facilitated using robot railing 14 .
- Robot railing 14 provides a person with the ability to move surgical system 2 without grasping robot body 8 . As illustrated in FIG. 1 , robot railing 14 may run the length of robot body 8 , shorter than robot body 8 , and/or may run longer the length of robot body 8 . Robot railing 14 may further provide protection to robot body 8 , preventing objects and or personnel from touching, hitting, or bumping into robot body 8 .
- Robot body 8 may provide support for a Selective Compliance Articulated Robot Arm, hereafter referred to as a “SCARA.”
- a SCARA 24 may be beneficial to use within the surgical system 2 due to the repeatability and compactness of the robotic arm. The compactness of a SCARA may provide additional space within a medical procedure, which may allow medical professionals to perform medical procedures free of excess clutter and confining areas.
- SCARA 24 may comprise robot telescoping support 16 , robot support arm 18 , and/or robot arm 20 .
- Robot telescoping support 16 may be disposed along robot body 8 . As illustrated in FIG. 1 , robot telescoping support 16 may provide support for the SCARA 24 and display 34 . In some embodiments, robot telescoping support 16 may extend and contract in a vertical direction.
- the body of robot telescoping support 16 may be any width and/or height configured to support the stress and weight placed upon it.
- medical personnel may move SCARA 24 through a command submitted by the medical personnel.
- the command may originate from input received on display 34 , a tablet, and/or an XR headset (e.g., headset 920 in FIG. 9 ) as will be explained in further detail below.
- the XR headset may eliminate the need for medical personnel to refer to any other display such as the display 34 or a tablet, which enables the SCARA 24 to be configured without the display 34 and/or the tablet.
- the command may be generated by the depression of a switch and/or the depression of a plurality of switches, and/or may be generated based on a hand gesture command and/or voice command that is sensed by the XR headset as will be explained in further detail below.
- an activation assembly 60 may include a switch and/or a plurality of switches.
- the activation assembly 60 may be operable to transmit a move command to the SCARA 24 allowing an operator to manually manipulate the SCARA 24 .
- the switch, or plurality of switches When the switch, or plurality of switches, is depressed the medical personnel may have the ability to move SCARA 24 through applied hand movements.
- an operator may control movement of the SCARA 24 through hand gesture commands and/or voice commands that are sensed by the XR headset as will be explained in further detail below.
- the SCARA 24 may lock in place to prevent accidental movement by personnel and/or other objects. By locking in place, the SCARA 24 provides a solid platform through which the end effector 26 can guide a surgical tool during a medical procedure.
- Robot support arm 18 can be connected to robot telescoping support 16 by various mechanisms. In some embodiments, best seen in FIGS. 1 and 2 , robot support arm 18 rotates in any direction in regard to robot telescoping support 16 . Robot support arm 18 may rotate three hundred and sixty degrees around robot telescoping support 16 . Robot arm 20 may connect to robot support arm 18 at any suitable location and by various mechanisms that enable rotation in any direction relative to robot support arm 18 . In one embodiment, the robot arm 20 can rotate three hundred and sixty degrees relative to the robot support arm 18 . This free rotation allows an operator to position robot arm 20 according to a surgical plan.
- the end effector 26 shown in FIGS. 4 and 5 may attach to robot arm 20 in any suitable location.
- the end effector 26 can be configured to attach to an end effector coupler 22 of the robot arm 20 positioned by the surgical robot 4 .
- the example end effector 26 includes a tubular guide that guides movement of an inserted surgical tool relative to an anatomical structure on which a surgical procedure is to be performed.
- a dynamic reference array 52 is attached to the end effector 26 .
- Dynamic reference arrays also referred to as “DRAB” herein, are rigid bodies which may be disposed on an anatomical structure (e.g., bone) of a patient, one or more XR headsets being worn by personnel in the operating room, the end effector, the surgical robot, a surgical tool in a navigated surgical procedure.
- the computer platform 910 in combination with the camera tracking system component 6 or other 3D localization system are configured to track in real-time the pose (e.g., positions and rotational orientations) of the DRA.
- the DRA can include fiducials, such as the illustrated arrangement of balls. This tracking of 3D coordinates of the DRA can allow the surgical system 2 to determine the pose of the DRA in any multidimensional space in relation to the target anatomical structure of the patient 50 in FIG. 5 .
- a light indicator 28 may be positioned on top of the SCARA 24 .
- Light indicator 28 may illuminate as any type of light to indicate “conditions” in which surgical system 2 is currently operating.
- the light may be produced by LED bulbs, which may form a ring around light indicator 28 .
- Light indicator 28 may comprise a fully permeable material that can let light shine through the entirety of light indicator 28 .
- Light indicator 28 may be attached to lower display support 30 .
- Lower display support 30 as illustrated in FIG. 2 may allow an operator to maneuver display 34 to any suitable location.
- Lower display support 30 may attach to light indicator 28 by any suitable mechanism.
- lower display support 30 may rotate about light indicator 28 or be rigidly attached thereto.
- Upper display support 32 may attach to lower display support 30 by any suitable mechanism.
- a tablet may be used in conjunction with display 34 and/or without display 34 .
- the tablet may be disposed on upper display support 32 , in place of display 34 , and may be removable from upper display support 32 during a medical operation.
- the tablet may communicate with display 34 .
- the tablet may be able to connect to surgical robot 4 by any suitable wireless and/or wired connection.
- the tablet may be able to program and/or control surgical system 2 during a medical operation. When controlling surgical system 2 with the tablet, all input and output commands may be duplicated on display 34 .
- the use of a tablet may allow an operator to manipulate surgical robot 4 without having to move around patient 50 and/or to surgical robot 4 .
- a surgeon and/or other personnel can wear XR headsets that may be used in conjunction with display 34 and/or a tablet or the XR head(s) may eliminate the need for use of the display 34 and/or tablet.
- camera tracking system component 6 works in conjunction with surgical robot 4 through wired or wireless communication networks.
- camera tracking system component 6 can include some similar components to the surgical robot 4 .
- camera body 36 may provide the functionality found in robot body 8 .
- Robot body 8 may provide an auxiliary tracking bar upon which cameras 46 are mounted.
- the structure within robot body 8 may also provide support for the electronics, communication devices, and power supplies used to operate camera tracking system component 6 .
- Camera body 36 may be made of the same material as robot body 8 .
- Camera tracking system component 6 may communicate directly to an XR headset, tablet and/or display 34 by a wireless and/or wired network to enable the XR headset, tablet and/or display 34 to control the functions of camera tracking system component 6 .
- Camera body 36 is supported by camera base 38 .
- Camera base 38 may function as robot base 10 .
- camera base 38 may be wider than robot base 10 .
- the width of camera base 38 may allow for camera tracking system component 6 to connect with surgical robot 4 .
- the width of camera base 38 may be large enough to fit outside robot base 10 .
- the additional width of camera base 38 may allow surgical system 2 additional maneuverability and support for surgical system 2 .
- a plurality of powered wheels 12 may attach to camera base 38 .
- Powered wheel 12 may allow camera tracking system component 6 to stabilize and level or set fixed orientation in regards to patient 50 , similar to the operation of robot base 10 and powered wheels 12 .
- This stabilization may prevent camera tracking system component 6 from moving during a medical procedure and may keep cameras 46 on the auxiliary tracking bar from losing track of a DRA connected to an XR headset and/or the surgical robot 4 , and/or losing track of one or more DRAs 52 connected to an anatomical structure 54 and/or tool 58 within a designated area 56 as shown in FIGS. 3A and 5 .
- This stability and maintenance of tracking enhances the ability of surgical robot 4 to operate effectively with camera tracking system component 6 .
- the wide camera base 38 may provide additional support to camera tracking system component 6 .
- a wide camera base 38 may prevent camera tracking system component 6 from tipping over when cameras 46 is disposed over a patient, as illustrated in FIGS. 3A and 5 .
- Camera telescoping support 40 may support cameras 46 on the auxiliary tracking bar. In some embodiments, telescoping support 40 moves cameras 46 higher or lower in the vertical direction.
- Camera handle 48 may be attached to camera telescoping support 40 at any suitable location and configured to allow an operator to move camera tracking system component 6 into a planned position before a medical operation. In some embodiments, camera handle 48 is used to lower and raise camera telescoping support 40 . Camera handle 48 may perform the raising and lowering of camera telescoping support 40 through the depression of a button, switch, lever, and/or any combination thereof.
- Lower camera support arm 42 may attach to camera telescoping support 40 at any suitable location, in embodiments, as illustrated in FIG. 1 , lower camera support arm 42 may rotate three hundred and sixty degrees around telescoping support 40 . This free rotation may allow an operator to position cameras 46 in any suitable location.
- Lower camera support arm 42 may connect to telescoping support 40 by any suitable mechanism.
- Lower camera support arm 42 may be used to provide support for cameras 46 .
- Cameras 46 may be attached to lower camera support arm 42 by any suitable mechanism. Cameras 46 may pivot in any direction at the attachment area between cameras 46 and lower camera support arm 42 .
- a curved rail 44 may be disposed on lower camera support arm 42 .
- Curved rail 44 may be disposed at any suitable location on lower camera support arm 42 . As illustrated in FIG. 3A , curved rail 44 may attach to lower camera support arm 42 by any suitable mechanism. Curved rail 44 may be of any suitable shape, a suitable shape may be a crescent, circular, oval, elliptical, and/or any combination thereof. Cameras 46 may be movably disposed along curved rail 44 . Cameras 46 may attach to curved rail 44 by, for example, rollers, brackets, braces, motors, and/or any combination thereof. Motors and rollers, not illustrated, may be used to move cameras 46 along curved rail 44 . As illustrated in FIG.
- the motors may responsively move cameras 46 along curved rail 44 .
- This motorized movement may allow cameras 46 to move to a new position that is no longer obstructed by the object without moving camera tracking system component 6 .
- camera tracking system component 6 may send a stop signal to a surgical robot 4 , XR headset, display 34 , and/or a tablet.
- the stop signal may prevent SCARA 24 from moving until cameras 46 has reacquired tracked DRAs 52 and/or can warn an operator wearing the XR headset and/or viewing the display 34 and/or the tablet.
- This SCARA 24 can be configured to respond to receipt of a stop signal by stopping further movement of the base and/or end effector coupler 22 until the camera tracking system can resume tracking of DRAs.
- FIGS. 3B and 3C illustrate a front view and isometric view of another camera tracking system component 6 ′ which may be used with the surgical system of FIG. 1 or may be used independent of a surgical robot.
- the camera tracking system component 6 ′ may be used for providing navigated surgery without use of robotic guidance.
- One of the differences between the camera tracking system component 6 ′ of FIGS. 3B and 3C and the camera tracking system component 6 of FIG. 3A is that the camera tracking system component 6 ′ of FIGS. 3B and 3C includes a housing that transports the computer platform 910 .
- the computer platform 910 can be configured to perform camera tracking operations to track DRAs, perform navigated surgery operations that provide surgical navigation information to a display device, e.g., XR headset and/or other display device, and perform other computational operations disclosed herein.
- the computer platform 910 can therefore include a navigation computer, such as one or more of the navigation computers of FIG. 14 .
- FIG. 6 illustrates a block diagram view of the components of the surgical system of FIG. 5 used for the medical operation.
- the tracking cameras 46 on the auxiliary tracking bar has a navigation field-of-view 600 in which the pose (e.g., position and orientation) of the reference array 602 attached to the patient, the reference array 604 attached to the surgical instrument, and the robot arm 20 are tracked.
- the tracking cameras 46 may be part of the camera tracking system component 6 ′ of FIGS. 3B and 3C , which includes the computer platform 910 configured to perform the operations described below.
- the reference arrays enable tracking by reflecting light in known patterns, which are decoded to determine their respective poses by the tracking subsystem of the surgical robot 4 .
- a responsive notification may temporarily halt further movement of the robot arm 20 and surgical robot 4 , display a warning on the display 34 , and/or provide an audible warning to medical personnel.
- the display 34 is accessible to the surgeon 610 and assistant 612 but viewing requires a head to be turned away from the patient and for eye focus to be changed to a different distance and location.
- the navigation software may be controlled by a tech personnel 614 based on vocal instructions from the surgeon.
- FIG. 7 illustrates various display screens that may be displayed on the display 34 of FIGS. 5 and 6 by the surgical robot 4 when using a navigation function of the surgical system 2 .
- the display screens can include, without limitation, patient radiographs with overlaid graphical representations of models of instruments that are positioned in the display screens relative to the anatomical structure based on a developed surgical plan and/or based on poses of tracked reference arrays, various user selectable menus for controlling different stages of the surgical procedure and dimension parameters of a virtually projected implant (e.g. length, width, and/or diameter).
- processing components e.g., computer platform 910
- associated software described below are provided that enable pre-operatively planning of a surgical procedure, e.g., implant placement, and electronic transfer of the plan to computer platform 910 to provide navigation information to one or more users during the planned surgical procedure.
- various processing components e.g., computer platform 910
- associated software described below are provided that enable pre-operatively planning of a surgical procedure, e.g., implant placement, and electronic transfer of the plan to the surgical robot 4 .
- the surgical robot 4 uses the plan to guide the robot arm 20 and connected end effector 26 to provide a target pose for a surgical tool relative to a patient anatomical structure for a step of the planned surgical procedure.
- Various embodiments below are directed to using one or more XR headsets that can be worn by the surgeon 610 , the assistant 612 , and/or other medical personnel to provide an improved user interface for receiving information from and/or providing control commands to the surgical robot, the camera tracking system component 6 / 6 ′, and/or other medical equipment in the operating room.
- FIG. 8 illustrates a block diagram of some electrical components of the surgical robot 4 according to some embodiments of the present disclosure.
- a load cell (not shown) may be configured to track force applied to end effector coupler 22 .
- the load cell may communicate with a plurality of motors 850 , 851 , 852 , 853 , and/or 854 .
- Controller 846 may take the force information from load cell and process it with a switch algorithm. The switch algorithm is used by the controller 846 to control a motor driver 842 .
- the motor driver 842 controls operation of one or more of the motors 850 , 851 , 852 , 853 , and 854 .
- Motor driver 842 may direct a specific motor to produce, for example, an equal amount of force measured by load cell through the motor.
- the force produced may come from a plurality of motors, e.g., 850 - 854 , as directed by controller 846 .
- motor driver 842 may receive input from controller 846 .
- Controller 846 may receive information from load cell as to the direction of force sensed by load cell. Controller 846 may process this information using a motion controller algorithm. The algorithm may be used to provide information to specific motor drivers 842 .
- controller 846 may activate and/or deactivate certain motor drivers 842 .
- Controller 846 may control one or more motors, e.g. one or more of 850 - 854 , to induce motion of end effector 26 in the direction of force sensed by load cell.
- This force-controlled motion may allow an operator to move SCARA 24 and end effector 26 effortlessly and/or with very little resistance. Movement of end effector 26 can be performed to position end effector 26 in any suitable pose (i.e., location and angular orientation relative to defined three-dimensional (3D) orthogonal reference axes) for use by medical personnel.
- Activation assembly 60 may form of a bracelet that wraps around end effector coupler 22 .
- the activation assembly 60 may be located on any part of SCARA 24 , any part of end effector coupler 22 , may be worn by medical personnel (and communicate wirelessly), and/or any combination thereof.
- Activation assembly 60 may comprise of a primary button and a secondary button.
- Depressing primary button may allow an operator to move SCARA 24 and end effector coupler 22 .
- SCARA 24 and end effector coupler 22 may not move until an operator programs surgical robot 4 to move SCARA 24 and end effector coupler 22 , or is moved using primary button.
- it may require the depression of at least two non-adjacent primary activation switches before SCARA 24 and end effector coupler 22 will respond to operator commands. Depression of at least two primary activation switches may prevent the accidental movement of SCARA 24 and end effector coupler 22 during a medical procedure.
- load cell may measure the force magnitude and/or direction exerted upon end effector coupler 22 by an operator, i.e. medical personnel. This information may be transferred to one or more motors, e.g. one or more of 850 - 854 , within SCARA 24 that may be used to move SCARA 24 and end effector coupler 22 . Information as to the magnitude and direction of force measured by load cell may cause the one or more motors, e.g. one or more of 850 - 854 , to move SCARA 24 and end effector coupler 22 in the same direction as sensed by the load cell.
- motors e.g. one or more of 850 - 854
- This force-controlled movement may allow the operator to move SCARA 24 and end effector coupler 22 easily and without large amounts of exertion due to the motors moving SCARA 24 and end effector coupler 22 at the same time the operator is moving SCARA 24 and end effector coupler 22 .
- a secondary button may be used by an operator as a “selection” device.
- surgical robot 4 may notify medical personnel to certain conditions by the XR headset(s) 920 , display 34 and/or light indicator 28 .
- the XR headset(s) 920 are each configured to display images on a see-through display screen to form an extended reality image that is overlaid on real-world objects viewable through the see-through display screen. Medical personnel may be prompted by surgical robot 4 to select a function, mode, and/or assess the condition of surgical system 2 .
- Depressing secondary button a single time may activate certain functions, modes, and/or acknowledge information communicated to medical personnel through the XR headset(s) 920 , display 34 and/or light indicator 28 . Additionally, depressing the secondary button multiple times in rapid succession may activate additional functions, modes, and/or select information communicated to medical personnel through the XR headset(s) 920 , display 34 and/or light indicator 28 .
- electrical components of the surgical robot 4 include platform subsystem 802 , computer subsystem 820 , motion control subsystem 840 , and tracking subsystem 830 .
- Platform subsystem 802 includes battery 806 , power distribution module 804 , connector panel 808 , and charging station 810 .
- Computer subsystem 820 includes computer 822 , display 824 , and speaker 826 .
- Motion control subsystem 840 includes driver circuit 842 , motors 850 , 851 , 852 , 853 , 854 , stabilizers 855 , 856 , 857 , 858 , end effector connector 844 , and controller 846 .
- Tracking subsystem 830 includes position sensor 832 and camera converter 834 .
- Surgical robot 4 may also include a removable foot pedal 880 and removable tablet computer 890 .
- Input power is supplied to surgical robot 4 via a power source which may be provided to power distribution module 804 .
- Power distribution module 804 receives input power and is configured to generate different power supply voltages that are provided to other modules, components, and subsystems of surgical robot 4 .
- Power distribution module 804 may be configured to provide different voltage supplies to connector panel 808 , which may be provided to other components such as computer 822 , display 824 , speaker 826 , driver 842 to, for example, power motors 850 - 854 and end effector coupler 844 , and provided to camera converter 834 and other components for surgical robot 4 .
- Power distribution module 804 may also be connected to battery 806 , which serves as temporary power source in the event that power distribution module 804 does not receive power from an input power. At other times, power distribution module 804 may serve to charge battery 806 .
- Connector panel 808 may serve to connect different devices and components to surgical robot 4 and/or associated components and modules.
- Connector panel 808 may contain one or more ports that receive lines or connections from different components.
- connector panel 808 may have a ground terminal port that may ground surgical robot 4 to other equipment, a port to connect foot pedal 880 , a port to connect to tracking subsystem 830 , which may include position sensor 832 , camera converter 834 , and DRA tracking cameras 870 .
- Connector panel 808 may also include other ports to allow USB, Ethernet, HDMI communications to other components, such as computer 822 .
- the connector panel 808 can include a wired and/or wireless interface for operatively connecting one or more XR headsets 920 to the tracking subsystem 830 and/or the computer subsystem 820 .
- Control panel 816 may provide various buttons or indicators that control operation of surgical robot 4 and/or provide information from surgical robot 4 for observation by an operator.
- control panel 816 may include buttons to power on or off surgical robot 4 , lift or lower vertical column 16 , and lift or lower stabilizers 855 - 858 that may be designed to engage casters 12 to lock surgical robot 4 from physically moving.
- Other buttons may stop surgical robot 4 in the event of an emergency, which may remove all motor power and apply mechanical brakes to stop all motion from occurring.
- Control panel 816 may also have indicators notifying the operator of certain system conditions such as a line power indicator or status of charge for battery 806 .
- one or more XR headsets 920 may communicate, e.g. via the connector panel 808 , to control operation of the surgical robot 4 and/or to received and display information generated by surgical robot 4 for observation by persons wearing the XR headsets 920 .
- Computer 822 of computer subsystem 820 includes an operating system and software to operate assigned functions of surgical robot 4 .
- Computer 822 may receive and process information from other components (for example, tracking subsystem 830 , platform subsystem 802 , and/or motion control subsystem 840 ) in order to display information to the operator.
- computer subsystem 820 may provide output through the speaker 826 for the operator.
- the speaker may be part of the surgical robot, part of an XR headset 920 , or within another component of the surgical system 2 .
- the display 824 may correspond to the display 34 shown in FIGS. 1 and 2 .
- Tracking subsystem 830 may include position sensor 832 and camera converter 834 . Tracking subsystem 830 may correspond to the camera tracking system component 6 of FIG. 3 .
- the DRA tracking cameras 870 operate with the position sensor 832 to determine the pose of DRAs 52 . This tracking may be conducted in a manner consistent with the present disclosure including the use of infrared or visible light technology that tracks the location of active or passive elements of DRAs 52 , such as LEDs or reflective markers, respectively.
- the tracking subsystem 830 and the computer subsystem 820 can be included in the computer platform 910 , which can be transported by the camera tracking system component 6 ′ of FIGS. 3A and 3B .
- the tracking subsystem 830 can be configured to determine the poses, e.g., location and angular orientation of the tracked DRAs.
- the computer platform 910 can also include a navigation controller that is configured to use the determined poses to provide navigation information to users that guides their movement of tracked tools relative to position-registered patient images and/or tracked anatomical structures during a planned surgical procedure.
- the computer platform 910 can display information on the display of FIGS. 3B and 3C and/or to one or more XR headsets 920 .
- the computer platform 910 when used with a surgical robot, can be configured to communicate with the computer subsystem 820 and other subsystems of FIG. 8 to control movement of the end effector 26 .
- the computer platform 910 can generate a graphical representation of a patient's anatomical structure, surgical tool, user's hand, etc. with a displayed size, shape, color, and/or pose that is controlled based on the determined pose(s) of one or more the tracked DRAs, and which the graphical representation that is displayed can be dynamically modified to track changes in the determined poses over time.
- Motion control subsystem 840 may be configured to physically move vertical column 16 , upper arm 18 , lower arm 20 , or rotate end effector coupler 22 .
- the physical movement may be conducted through the use of one or more motors 850 - 854 .
- motor 850 may be configured to vertically lift or lower vertical column 16 .
- Motor 851 may be configured to laterally move upper arm 18 around a point of engagement with vertical column 16 as shown in FIG. 2 .
- Motor 852 may be configured to laterally move lower arm 20 around a point of engagement with upper arm 18 as shown in FIG. 2 .
- Motors 853 and 854 may be configured to move end effector coupler 22 to provide translational movement and rotation along in about three-dimensional axes.
- Motion control subsystem 840 may be configured to measure position of the end effector coupler 22 and/or the end effector 26 using integrated position sensors (e.g. encoders).
- FIG. 9 illustrates a block diagram of components of a surgical system that includes imaging devices (e.g., C-Arm 104 , O-Arm 106 , etc.) connected to a computer platform 910 which can be operationally connected to a camera tracking system component 6 ( FIG. 3A ) or 6 ′ ( FIGS. 3B,3C ) and/or to surgical robot 4 according to some embodiments of the present disclosure.
- imaging devices e.g., C-Arm 104 , O-Arm 106 , etc.
- a computer platform 910 which can be operationally connected to a camera tracking system component 6 ( FIG. 3A ) or 6 ′ ( FIGS. 3B,3C ) and/or to surgical robot 4 according to some embodiments of the present disclosure.
- a camera tracking system component 6 FIG. 3A
- 6 ′ FIGS. 3B,3C
- the computer platform 910 includes a display 912 , at least one processor circuit 914 (also referred to as a processor for brevity), at least one memory circuit 916 (also referred to as a memory for brevity) containing computer readable program code 918 , and at least one network interface 902 (also referred to as a network interface for brevity).
- the display 912 may be part of an XR headset 920 in accordance with some embodiments of the present disclosure.
- the network interface 902 can be configured to connect to a C-Arm imaging device 104 in FIG. 10 , an O-Arm imaging device 106 in FIG. 11 , another medical imaging device, an image database 950 containing patient medical images, components of the surgical robot 4 , and/or other electronic equipment.
- the display 912 When used with a surgical robot 4 , the display 912 may correspond to the display 34 of FIG. 2 and/or the tablet 890 of FIG. 8 and/or the XR headset 920 that is operatively connected to the surgical robot 4 , the network interface 902 may correspond to the platform network interface 812 of FIG. 8 , and the processor 914 may correspond to the computer 822 of FIG. 8 .
- the network interface 902 of the XR headset 920 may be configured to communicate through a wired network, e.g., thin wire ethernet, and/or through wireless RF transceiver link according to one or more wireless communication protocols, e.g., WLAN, 3GPP 4G and/or 5G (New Radio) cellular communication standards, etc.
- wireless communication protocols e.g., WLAN, 3GPP 4G and/or 5G (New Radio) cellular communication standards, etc.
- the processor 914 may include one or more data processing circuits, such as a general purpose and/or special purpose processor, e.g., microprocessor and/or digital signal processor.
- the processor 914 is configured to execute the computer readable program code 918 in the memory 916 to perform operations, which may include some or all of the operations described herein as being performed for surgery planning, navigated surgery, and/or robotic surgery.
- the computer platform 910 can be configured to provide surgery planning functionality.
- the processor 914 can operate to display on the display device 912 and/or on the XR headset 920 an image of an anatomical structure, e.g., vertebra, that is received from one of the imaging devices 104 and 106 and/or from the image database 950 through the network interface 920 .
- the processor 914 receives an operator's definition of where the anatomical structure shown in one or more images is to have a surgical procedure, e.g., screw placement, such as by the operator touch selecting locations on the display 912 for planned procedures or using a mouse-based cursor to define locations for planned procedures.
- the XR headset can be configured to sense in gesture-based commands formed by the wearer and/or sense voice based commands spoken by the wearer, which can be used to control selection among menu items and/or control how objects are displayed on the XR headset 920 as will be explained in further detail below.
- the computer platform 910 can be configured to enable anatomy measurement, which can be particularly useful for knee surgery, like measurement of various angles determining center of hip, center of angles, natural landmarks (e.g. transepicondylar line, Whitesides line, posterior condylar line), etc. Some measurements can be automatic while some others can involve human input or assistance.
- the computer platform 910 may be configured to allow an operator to input a choice of the correct implant for a patient, including choice of size and alignment.
- the computer platform 910 may be configured to perform automatic or semi-automatic (involving human input) segmentation (image processing) for CT images or other medical images.
- the surgical plan for a patient may be stored in a cloud-based server, which may correspond to database 950 , for retrieval by the surgical robot 4 .
- a surgeon may choose which cut to make (e.g. posterior femur, proximal tibia etc.) using a computer screen (e.g. touchscreen) or extended reality (XR) interaction (e.g., hand gesture based commands and/or voice based commands) via, e.g., the XR headset 920 .
- the computer platform 910 can generate navigation information which provides visual guidance to the surgeon for performing the surgical procedure.
- the computer platform 910 can provide guidance that allows the surgical robot 4 to automatically move the end effector 26 to a target pose so that the surgical tool is aligned with a target location to perform the surgical procedure on an anatomical structure.
- the surgical system 900 can use two DRAs to track patient anatomy position, such as one connected to patient tibia and one connected to patient femur.
- the system 900 may use standard navigated instruments for the registration and checks (e.g. a pointer similar to the one used in Globus ExcelsiusGPS system for spine surgery).
- a particularly challenging task in navigated surgery is how to plan the position of an implant in spine, knee, and other anatomical structures where surgeons struggle to perform the task on a computer screen which is a 2D representation of the 3D anatomical structure.
- the system 900 could address this problem by using the XR headset 920 to display a three-dimensional (3D) computer generated representations of the anatomical structure and a candidate implant device.
- the computer generated representations are scaled and posed relative to each other on the display screen under guidance of the computer platform 910 and which can be manipulated by a surgeon while viewed through the XR headset 920 .
- a surgeon may, for example, manipulate the displayed computer-generated representations of the anatomical structure, the implant, a surgical tool, etc., using hand gesture based commands and/or voice based commands that are sensed by the XR headset 920 .
- a surgeon can view a displayed virtual handle on a virtual implant, and can manipulate (e.g., grab and move) the virtual handle to move the virtual implant to a desired pose and adjust a planned implant placement relative to a graphical representation of an anatomical structure.
- the computer platform 910 could display navigation information through the XR headset 920 that facilitates the surgeon's ability to more accurately follow the surgical plan to insert the implant and/or to perform another surgical procedure on the anatomical structure.
- the progress of bone removal e.g., depth of cut
- Other features that may be displayed through the XR headset 920 can include, without limitation, gap or ligament balance along a range of joint motion, contact line on the implant along the range of joint motion, ligament tension and/or laxity through color or other graphical renderings, etc.
- the computer platform 910 can allow planning for use of standard surgical tools and/or implants, e.g., posterior stabilized implants and cruciate retaining implants, cemented and cementless implants, revision systems for surgeries related to, for example, total or partial knee and/or hip replacement and/or trauma.
- standard surgical tools and/or implants e.g., posterior stabilized implants and cruciate retaining implants, cemented and cementless implants, revision systems for surgeries related to, for example, total or partial knee and/or hip replacement and/or trauma.
- An automated imaging system can be used in conjunction with the computer platform 910 to acquire pre-operative, intra-operative, post-operative, and/or real-time image data of an anatomical structure.
- Example automated imaging systems are illustrated in FIGS. 10 and 11 .
- the automated imaging system is a C-arm 104 ( FIG. 10 ) imaging device or an O-arm® 106 ( FIG. 11 ).
- O-arm® is copyrighted by Medtronic Navigation, Inc. having a place of business in Louisville, Colo., USA). It may be desirable to take x-rays of a patient from a number of different positions, without the need for frequent manual repositioning of the patient which may be required in an x-ray system.
- C-arm 104 x-ray diagnostic equipment may solve the problems of frequent manual repositioning and may be well known in the medical art of surgical and other interventional procedures.
- a C-arm includes an elongated C-shaped member terminating in opposing distal ends 112 of the “C” shape.
- C-shaped member is attached to an x-ray source 114 and an image receptor 116 .
- the space within C-arm 104 of the arm provides room for the physician to attend to the patient substantially free of interference from the x-ray support structure.
- the C-arm is mounted to enable rotational movement of the arm in two degrees of freedom, (i.e. about two perpendicular axes in a spherical motion).
- C-arm is slidably mounted to an x-ray support structure, which allows orbiting rotational movement of the C-arm about its center of curvature, which may permit selective orientation of x-ray source 114 and image receptor 116 vertically and/or horizontally.
- the C-arm may also be laterally rotatable, (i.e. in a perpendicular direction relative to the orbiting direction to enable selectively adjustable positioning of x-ray source 114 and image receptor 116 relative to both the width and length of the patient).
- Spherically rotational aspects of the C-arm apparatus allow physicians to take x-rays of the patient at an optimal angle as determined with respect to the particular anatomical condition being imaged.
- the O-arm® 106 illustrated in FIG. 11 includes a gantry housing 124 which may enclose an image capturing portion, not illustrated.
- the image capturing portion includes an x-ray source and/or emission portion and an x-ray receiving and/or image receiving portion, which may be disposed about one hundred and eighty degrees from each other and mounted on a rotor (not illustrated) relative to a track of the image capturing portion.
- the image capturing portion may be operable to rotate three hundred and sixty degrees during image acquisition.
- the image capturing portion may rotate around a central point and/or axis, allowing image data of the patient to be acquired from multiple directions or in multiple planes.
- the O-arm® 106 with the gantry housing 124 has a central opening for positioning around an object to be imaged, a source of radiation that is rotatable around the interior of gantry housing 124 , which may be adapted to project radiation from a plurality of different projection angles.
- a detector system is adapted to detect the radiation at each projection angle to acquire object images from multiple projection planes in a quasi-simultaneous manner.
- the gantry may be attached to a support structure O-arm® support structure, such as a wheeled mobile cart with wheels, in a cantilevered fashion.
- a positioning unit translates and/or tilts the gantry to a planned position and orientation, preferably under control of a computerized motion control system.
- the gantry may include a source and detector disposed opposite one another on the gantry.
- the source and detector may be secured to a motorized rotor, which may rotate the source and detector around the interior of the gantry in coordination with one another.
- the source may be pulsed at multiple positions and orientations over a partial and/or full three hundred and sixty degree rotation for multi-planar imaging of a targeted object located inside the gantry.
- the gantry may further comprise a rail and bearing system for guiding the rotor as it rotates, which may carry the source and detector.
- Both and/or either O-arm® 106 and C-arm 104 may be used as automated imaging system to scan a patient and send information to the surgical system 2 .
- Images captured by an imaging system can be displayed on the XR headset 920 and/or another display device of the computer platform 910 , the surgical robot 4 , and/or another component of the surgical system 900 .
- the XR headset 920 may be connected to one or more of the imaging devices 104 and/or 106 and/or to the image database 950 , e.g., via the computer platform 910 , to display images therefrom.
- a user may provide control inputs through the XR headset 920 , e.g., gesture and/or voice based commands, to control operation of one or more of the imaging devices 104 and/or 106 and/or the image database 950 .
- FIG. 12 illustrates a block diagram view of the components of a surgical system that include a pair of XR headsets 1200 and 1210 (head-mounted displays HMD 1 and HMD 2 ), which may correspond to the XR headset 920 shown in FIG. 13 and operate in accordance with some embodiments of the present disclosure.
- the assistant 612 and surgeon 610 are both wearing the XR headsets 1210 and 1210 , respectively. It is optional for the assistant 612 to wear the XR headset 1210 .
- the XR headsets 1200 and 1210 are configured to provide an interactive environment through which the wearers can view and interact with information related to a surgical procedure as will be described further below. This interactive XR based environment may eliminate a need for the tech personnel 614 to be present in the operating room and may eliminate a need for use of the display 34 shown in FIG. 6 .
- Each XR headset 1200 and 1210 can include one or more cameras that are be configured to provide an additional source of tracking of DRAs or other reference arrays attached to instruments, an anatomical structure, the end effector 26 , and/or other equipment.
- XR headset 1200 has a field-of-view (FOV) 1202 for tracking DRAs and other objects
- XR headset 1210 has a FOV 1212 partially overlapping FOV 1202 for tracking DRAs and other objects
- the tracking cameras 46 has another FOV 600 partially overlapping FOVs 1202 and 1212 for tracking DRAs and other objects.
- FOV field-of-view
- the tracking subsystem 830 and/or navigation controller 828 can continue to track the object seamlessly without loss of navigation. Additionally, if there is partial occlusion of the DRA from the perspective of one camera, but the entire DRA is visible via multiple camera sources, the tracking inputs of the cameras can be merged to continue navigation of the DRA.
- One of the XR headsets and/or the tracking cameras 46 may view and track the DRA on another one of the XR headsets to enable the computer platform 910 ( FIGS.
- the tracking subsystem 830 and/or another computing component to determine the pose of the DRA relative to one or more defined coordinate systems, e.g., of the XR headsets 1200 / 1210 , the tracking cameras 46 , and/or another coordinate system defined for the patient, table, and/or room.
- one or more defined coordinate systems e.g., of the XR headsets 1200 / 1210 , the tracking cameras 46 , and/or another coordinate system defined for the patient, table, and/or room.
- the XR headsets 1200 and 1210 can be operatively connected to view video, pictures, and/or other information received from and/or to provide commands that control various equipment in the surgical room, including but not limited to neuromonitoring, microscopes, video cameras, and anesthesia systems. Data from the various equipment may be processed and displayed within the headset, for example the display of patient vitals or the microscope feed.
- FIG. 13 illustrates an XR headset 920 which is configured in accordance with some embodiments of the present disclosure.
- the XR headset includes a headband 1306 configured to secure the XR headset to a wearer's head, an electronic component enclosure 1304 supported by the headband 1306 , and a display screen 1302 that extends laterally across and downward from the electronic component enclosure 1304 .
- the display screen 1302 may be a see-through LCD display device or a semi-reflective lens that reflects images projected by a display device toward the wearer's eyes.
- a set of DRA fiducials, e.g., dots are painted or attached in a spaced apart known arranged on one or both sides of the headset.
- the DRA on the headset enables the tracking cameras on the auxiliary tracking bar to track pose of the headset 920 and/or enables another XR headset to track pose of the headset 920 .
- the display screen 1302 operates as a see-through display screen, also referred to as a combiner, that reflects light from display panels of a display device toward the user's eyes.
- the display panels can be located between the electronic component enclosure and the user's head, and angled to project virtual content toward the display screen 1302 for reflection toward the user's eyes.
- the display screen 1302 is semi-transparent and semi-reflective allowing the user to see reflected virtual content superimposed on the user's view of a real-world scene.
- the display screen 1302 may have different opacity regions, such as the illustrated upper laterally band which has a higher opacity than the lower laterally band.
- Opacity of the display screen 1302 may be electronically controlled to regulate how much light from the real-world scene passes through to the user's eyes.
- a high opacity configuration of the display screen 1302 results in high-contrast virtual images overlaid on a dim view of the real-world scene.
- a low opacity configuration of the display screen 1302 can result in more faint virtual images overlaid on a clearer view of the real-world scene.
- the opacity may be controlled by applying an opaque material on a surface of the display screen 1302 .
- the surgical system includes an XR headset 920 and an XR headset controller, e.g., controller 1430 in FIG. 14 or controller 3410 in FIG. 34 .
- the XR headset 920 is configured to be worn by a user during a surgical procedure and has a see-through display screen 1302 that is configured to display an XR image and to allow at least a portion of a real-world scene to pass therethrough for viewing by the user.
- the XR headset 920 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 1302 is viewed by the user.
- the opacity filter is configured to provide opaqueness to light from the real-world scene.
- the XR headset controller is configured to communicate with a navigation controller, e.g., controller(s) 828 A, 828 B, and/or 828 C in FIG. 14 , to receive navigation information from the navigation controller which provides guidance to the user during the surgical procedure on an anatomical structure, and is further configured to generate the XR image based on the navigation information for display on the see-through display screen 1302 .
- a navigation controller e.g., controller(s) 828 A, 828 B, and/or 828 C in FIG. 14 .
- Opacity of the display screen 1302 may be configured as a gradient having a more continuously changing opacity with distance downward from a top portion of the display screen 1302 .
- the gradient's darkest point can be located at the top portion of the display screen 1302 , and gradually becoming less opaque further down on the display screen 1302 until the opacity is transparent or not present.
- the gradient can change from about 90 % opacity to entirely transparent approximately at the mid-eye level of the display screen 1302 . With the headset properly calibrated and positioned, the mid-eye level can correspond to the point where the user would look straight out, and the end of the gradient would be located at the “horizon” line of the eye. The darker portion of the gradient will allow crisp, clear visuals of the virtual content and help to block the intrusive brightness of the overhead operating room lights.
- an opacity filter in this manner enables the XR headset 920 to provide virtual reality (VR) capabilities, by substantially or entirely blocking light from the real-world scene, along an upper portion of the display screen 1302 and to provide AR capabilities along a middle or lower portion of the display screen 1302 .
- VR virtual reality
- Configuring the display screen 1302 as a gradient instead of as a more constant opacity band can enable the wearer to experience a more natural transition between a more VR type view to a more AR type view without experiencing abrupt changes in brightness of the real-world scene and depth of view that may otherwise strain the eyes such as during more rapid shifting between upward and downward views.
- the display panels and display screen 1302 can be configured to provide a wide field of view see-through XR display system. In one example configuration they provide an 80° diagonal field-of-view (FOV) with 55° of vertical coverage for a user to view virtual content. Other diagonal FOV angles and vertical coverage angles can be provided through different size display panels, different curvature lens, and/or different distances and angular orientations between the display panels and curved display screen 1302 .
- FOV field-of-view
- FIG. 14 illustrates electrical components of the XR headset 920 that can be operatively connected to the computer platform 910 , to one or more of the imaging devices, such as the C-arm imaging device 104 , the O-arm imaging device 106 , and/or the image database 950 , and/or to the surgical robot 800 in accordance with various embodiments of the present disclosure.
- the imaging devices such as the C-arm imaging device 104 , the O-arm imaging device 106 , and/or the image database 950 , and/or to the surgical robot 800 in accordance with various embodiments of the present disclosure.
- the XR headset 920 provides an improved human interface for performing navigated surgical procedures.
- the XR headset 920 can be configured to provide functionalities, e.g., via the computer platform 910 , that include without limitation any one or more of: identification of hand gesture based commands and/or voice based commands, display XR graphical objects on a display device 1450 .
- the display device 1450 may a video projector, flat panel display, etc., which projects the displayed XR graphical objects on the display screen 1302 .
- the user can view the XR graphical objects as an overlay anchored to particular real-world objects viewed through the display screen 1302 ( FIG. 13 ).
- the XR headset 920 may additionally or alternatively be configured to display on the display screen 1450 video feeds from cameras mounted to one or more XR headsets 920 and other cameras.
- Electrical components of the XR headset 920 can include a plurality of cameras 1440 , a microphone 1442 , a gesture sensor 1444 , a pose sensor (e.g., inertial measurement unit (IMU)) 1446 , a display module 1448 containing the display device 1450 , and a wireless/wired communication interface 1452 .
- the cameras 1440 of the XR headset may be visible light capturing cameras, near infrared capturing cameras, or a combination of both.
- the cameras 1440 may be configured operate as the gesture sensor 1444 by capturing for identification user hand gestures performed within the field of view of the camera(s) 1440 .
- the gesture sensor 1444 may be a proximity sensor and/or a touch sensor that senses hand gestures performed proximately to the gesture sensor 1444 and/or senses physical contact, e.g. tapping on the sensor or the enclosure 1304 .
- the pose sensor 1446 e.g., IMU, may include a multi-axis accelerometer, a tilt sensor, and/or another sensor that can sense rotation and/or acceleration of the XR headset 920 along one or more defined coordinate axes. Some or all of these electrical components may be contained in the component enclosure 1304 or may be contained in another enclosure configured to be worn elsewhere, such as on the hip or shoulder.
- the surgical system 2 includes a camera tracking system component 6 / 6 ′ and a tracking subsystem 830 which may be part of the computer platform 910 .
- the surgical system may include imaging devices (e.g., C-arm 104 , O-arm 106 , and/or image database 950 ) and/or a surgical robot 4 .
- the tracking subsystem 830 is configured to determine a pose of DRAs attached to an anatomical structure, an end effector, a surgical tool, etc.
- a navigation controller 828 is configured to determine a target pose for the surgical tool relative to an anatomical structure based on a surgical plan, e.g., from a surgical planning function performed by the computer platform 910 of FIG.
- the navigation controller 828 may be further configured to generate 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, where the steering information indicates where the surgical tool and/or the end effector of a surgical robot should be moved to perform the surgical plan.
- the electrical components of the XR headset 920 can be operatively connected to the electrical components of the computer platform 910 through a wired/wireless interface 1452 .
- the electrical components of the XR headset 920 may be operatively connected, e.g., through the computer platform 910 or directly connected, to various imaging devices, e.g., the C-arm imaging device 104 , the I/O-arm imaging device 106 , the image database 950 , and/or to other medical equipment through the wired/wireless interface 1452 .
- the surgical system 2 further includes at least one XR headset controller 1430 (also referred to as “XR headset controller” for brevity) that may reside in the XR headset 920 , the computer platform 910 , and/or in another system component connected via wired cables and/or wireless communication links.
- XR headset controller 1430 is configured to receive navigation information from the navigation controller 828 which provides guidance to the user during the surgical procedure on an anatomical structure, and is configured to generate an XR image based on the navigation information for display on the display device 1450 for projection on the see-through display screen 1302 .
- the configuration of the display device 1450 relative to the display screen (also referred to as “see-through display screen”) 1302 is configured to display XR images in a manner such that when the user wearing the XR headset 920 looks through the display screen 1302 the XR images appear to be in the real world.
- the display screen 1302 can be positioned by the headband 1306 in front of the user's eyes.
- the XR headset controller 1430 can be within a housing that is configured to be worn on a user's head or elsewhere on the user's body while viewing the display screen 1302 or may be remotely located from the user viewing the display screen 1302 while being communicatively connected to the display screen 1302 .
- the XR headset controller 1430 can be configured to operationally process signaling from the cameras 1440 , the microphone 142 , and/or the pose sensor 1446 , and is connected to display XR images on the display device 1450 for user viewing on the display screen 1302 .
- the XR headset controller 1430 illustrated as a circuit block within the XR headset 920 is to be understood as being operationally connected to other illustrated components of the XR headset 920 but not necessarily residing within a common housing (e.g., the electronic component enclosure 1304 of FIG. 13 ) or being otherwise transportable by the user.
- the XR headset controller 1430 may reside within the computer platform 910 which, in turn, may reside within a housing of the computer tracking system component 6 ′ shown in FIGS. 3B and 3C .
- FIG. 34 illustrates a block diagram showing arrange of optical components of the XR headset 920 in accordance with some embodiments of the present disclosure.
- the display device 1450 is configured to display XR images generated by the XR headset controller 1430 , light from which is projected as XR images 1450 toward the display screen 1302 .
- the display screen 1302 is configured to combine light of the XR images 1450 and light from the real-world scene 1502 into a combined augmented view 1504 that is directed to the user's eye(s) 1510 .
- the display screen 1302 configured in this manner operates as a see-through display screen.
- the XR headset 920 can include any plural number of tracking cameras 1440 .
- the cameras 1440 may be visible light capturing cameras, near infrared capturing cameras, or a combination of both.
- the XR headset operations can display both 2D images and 3D models on the display screen 1302 .
- the 2D images may preferably be displayed in a more opaque band of the display screen 1302 (upper band) and the 3D model may be more preferably displayed in the more transparent band of the display screen 1302 , otherwise known as the environmental region (bottom band). Below the lower band where the display screen 1302 ends the wearer has an unobstructed view of the surgical room.
- XR content is display on the display screen 1302 may be fluidic. It is possible that where the 3D content is displayed moves to the opaque band depending on the position of the headset relative to the content, and where 2D content is displayed can be placed in the transparent band and stabilized to the real world.
- the entire display screen 1302 may be darkened under electronic control to convert the headset into virtual reality for surgical planning or completely transparent during the medical procedure.
- the XR headset 920 and associated operations not only support navigated procedures, but also can be performed in conjunction with robotically assisted procedures.
- FIG. 16 illustrates an example view through the display screen 1302 of the XR headset 920 for providing navigation assistance to a user who is manipulating a surgical tool 1602 during a medical procedure in accordance with some embodiments of the present disclosure.
- a graphical representation 1600 of the tool can be displayed in 2D and/or 3D images in relation to a graphical representation 1610 of the anatomical structure.
- the user can use the viewed graphical representations to adjust a trajectory 1620 of the surgical tool 1602 , which can be illustrated as extending from the graphical representation 2000 of the tool through the graphical representation 1610 of the anatomical structure.
- the XR headset 920 may also display textual information and other objects 1640 .
- the dashed line 1650 extending across the viewed display screen represents an example division between different opacity level upper and lower bands.
- XR images virtual content
- Other types of XR images can include, but are not limited to any one or more of:
- FIG. 17 illustrates example configuration of an auxiliary tracking bar 46 having two pairs of stereo tracking cameras configured in accordance with some embodiments of the present disclosure.
- the auxiliary tracking bar 46 is part of the camera tracking system component of FIGS. 3A, 3B, and 3C .
- the stereo tracking cameras include a stereo pair of spaced apart visible light capturing cameras and another stereo pair of spaced apart near infrared capturing cameras, in accordance with one embodiment.
- only one stereo pair of visible light capturing cameras or only one stereo pair of near infrared capture cameras can used in the auxiliary tracking bar 46 . Any plural number of near infrared and/or visible light cameras can be used.
- navigated surgery can include computer vision tracking and determination of pose (e.g., position and orientation in a six degree-of-freedom coordinate system) of surgical instruments, such as by determining pose of attached DRAs that include spaced apart fiducials, e.g., disks or spheres, arranged in a known manner.
- the computer vision uses spaced apart tracking cameras, e.g., stereo cameras, that are configured to capture near infrared and/or visible light.
- Some further aspects of the present disclosure are directed to computer operations that combine (chain) measured poses in ways that can improve optimization of one or more of the above three parameters by incorporating additional tracking cameras mounted to one or more XR headsets.
- a stereo pair of visible light tracking cameras and another stereo pair of near infrared tracking cameras can be attached to the auxiliary tracking bar of the camera tracking system component in accordance with some embodiments of the present disclosure.
- Operational algorithms are disclosed that analyze the pose of DRAs that are fully observed or partially observed (e.g., when less than all of the fiducials of a DRA are viewed by a pair of stereo cameras), and combine the observed poses or partial poses in ways that can improve accuracy, robustness, and/or ergonomics during navigated surgery.
- the XR headset may be configured to augment a real-world scene with computer generated XR images.
- the XR headset may be configured to provide an XR viewing environment by displaying the computer generated XR images on a see-through display screen that allows light from the real-world scene to pass therethrough for combined viewing by the user.
- the XR headset may be configured to provide a VR viewing environment by preventing or substantially preventing light from the real-world scene from being directly viewed by the user along the viewing path of the displayed XR images.
- An XR headset can be configured to provide both AR and VR viewing environments.
- both AR and VR viewing environments are provided by lateral bands of substantially differing opacity arranged between the see-through display screen and the real-world scene, so that a VR viewing environment is provided for XR images aligned with a high opacity band and an AR viewing environment is provided for XR images aligned with the low opacity band.
- both AR and VR viewing environments are provided by computer adjustable control of an opacity filter that variably constrains how much light from the real-world scene passes through a see-through display screen for combining with the XR images viewed by the user.
- the XR headset can also be referred to as an AR headset or a VR headset.
- the XR headset can include near infrared tracking cameras and/or visible light tracking cameras that are configured to track fiducials of DRAs connected to surgical instruments, patient anatomy, other XR headset(s), and/or a robotic end effector.
- near infrared tracking and/or visible light tracking on the XR headset provides additional tracking volume coverage beyond what cameras on a single auxiliary tracking bar can provide. Adding near infrared tracking cameras to the existing auxiliary tracking bar allows for the headset location to be tracked more robustly but less accurately than in visible light.
- Mechanically calibrating the visible and near infrared tracking coordinate systems enables the coordinate systems to be aligned sufficiently to perform 3D DRA fiducials triangulation operations using stereo matching to jointly identify pose of the DRA fiducials between the visible and near infrared tracking coordinate systems.
- Using both visible and near infrared tracking coordinate systems can enable any one or more of: (a) identifying tools that would not be identified using a single coordinate system; (b) increased pose tracking accuracy; (c) enabling a wider range of motion without losing tracking of surgical instruments, patient anatomy, and/or a robotic end effector; and (d) naturally track an XR headset in the same coordinate system as the navigated surgical instruments.
- FIG. 18 illustrates a block diagram view of the components of a surgical system that include tracking cameras in a pair of XR headsets 1200 and 1210 (head-mounted displays HMD 1 and HMD 2 ) and tracking cameras in a camera tracking bar in the camera tracking system component 6 ′ which houses the computer platform 910 .
- the computer platform 910 can include the tracking subsystem 830 , the navigation controller 828 , and the XR headset controller 1430 as was earlier shown in FIG. 14 .
- a surgeon and an assistant are both wearing XR headsets HMD 1 1200 and HMD 2 1210 , respectively, each if which includes tracking cameras that may be configured as shown in FIG. 13 . It is optional for the assistant to wear the XR headset HMD 2 1210 .
- the combination of XR headsets HMD 1 1200 and HMD 2 1210 and the tracking cameras 46 on the auxiliary tracking bar can, in operation with the computer platform 910 , more robustly track the example objects of a patient reference array (R), robotic end effector (E), and surgical tool (T) or instrument.
- R patient reference array
- E robotic end effector
- T surgical tool
- FIG. 12 The overlapping views from different perspectives that are provided by the XR headsets HMD 1 1200 and HMD 2 1210 and the tracking cameras 46 on the auxiliary tracking bar are shown in FIG. 12 .
- T N2 S is calibrated: T N3 A ; T N V , where the term “T” is defined as a six degree-of-freedom (6 DOF) homogeneous transformation between the two indicated coordinates systems.
- T N2 S is a 6 DOF homogeneous transformation between the visible light coordinate system of the primary headset HMD 1 1200 and the NIR coordinate system of the primary headset HMD 1 1200 .
- the XR headsets HMD 1 1200 and HMD 2 1210 have passive visible light markers painted or otherwise attached to them (coordinate systems S and A), such as the DRA fiducials 1310 shown in FIG. 13 .
- the tracking cameras are spatially calibrated to these passive fiducials (coordinate systems N2 and N3).
- the cameras on the XR headset HMD 1 1200 and HMD 2 1210 and the tracking cameras 46 on the auxiliary tracking bar have partially overlapping field of views. If one or more of the cameras on the XR headset HMD 1 1200 are obstructed from viewing a DRA attached to a tracked object, e.g., a tracked tool (T), but the DRA is in view of the cameras of the other XR headset HMD 2 1210 and/or the tracking cameras 46 on the auxiliary tracking bar, the computer platform 910 can continue to track the DRA seamlessly without loss of navigation.
- a tracked object e.g., a tracked tool (T)
- the tracking inputs of the cameras can be merged to continue navigation of the DRA.
- the various coordinate systems can be chained together by virtue of independent observations the various camera systems provided by the XR headsets HMD 1 1200 and HMD 2 1210 and the tracking cameras 46 on the auxiliary tracking bar.
- each of the XR headsets HMD 1 1200 and HMD 2 1210 may require virtual augmentation of the robotic end effector (E). While one XR headset HMD 1 1200 (N2) and the tracking cameras 46 on the auxiliary tracking bar (N) are able to see (E), perhaps the other XR headset HMD 2 1210 (N3) cannot.
- the location of (E) with respect to (N3) can still be computed via one of several different operational methods. Operations according to one embodiment performing chaining of poses from a patient reference (R). If the patient reference (R) is seen by (N3) and either one of (N) or (N2), the pose of (E) with respect to (N3) can be solved directly by either one of the following two equations:
- the chains can be arbitrarily long and are enabled by having more than one stereo camera system (e.g., N, N2, N3).
- the camera tracking system can be configured to receive tracking information related to tracked objects from a first tracking camera (e.g., N3) and a second tracking camera (e.g., N2) during a surgical procedure.
- the camera tracking system can determine a first pose transform (e. g., T N3 R ) between a first object (e.g., R) coordinate system and the first tracking camera (e.g., N3) coordinate system based on first object tracking information from the first tracking camera (e.g., N3) which indicates pose of the first object (e.g., R).
- the camera tracking system can determine a second pose transform (e.g., T R N2 ) between the first object (e.g., R) coordinate system and the second tracking camera (e.g., N2) coordinate system based on first object tracking information from the second tracking camera (e.g., N2) which indicates pose of the first object (e.g., R).
- the camera tracking system can determine a third pose transform (e.g., T N2 E ) between a second object (e.g., E) coordinate system and the second tracking camera (e.g., N2) coordinate system based on second object tracking information from the second tracking camera (e.g., N2) which indicates pose of the second object (e.g., E).
- the camera tracking system can determine a fourth pose transform (e.g., T N3 E ) between the second object (e.g., E) coordinate system and the first tracking camera (e.g., N3) coordinate system based on combining the first, second, and third pose transforms.
- a fourth pose transform e.g., T N3 E
- the camera system can further determine pose of the second object (e.g., E) and the first tracking camera system (e.g., N3) coordinate system based on processing the tracking information through the fourth pose transform.
- the camera tracking system is capable of determining the pose of the second object (e.g., E) relative to first tracking camera (e.g., N3) when the first camera is blocked from seeing the second object (e.g., E).
- the camera tracking system is further configured to determine the fourth pose transform (e.g., T N3 E ) between the second object (e.g., E) coordinate system and the first tracking camera (e.g., N3) coordinate system without use of any tracking information from the first tracking camera (e.g., N3) indicating pose of the second object (e.g., E).
- the camera tracking system can be further configured to determine pose of the second object (e.g., E) in the first tracking camera (e.g., N3) coordinate system based on processing through the fourth pose transform the tracking information from the first tracking camera (e.g., N3) which indicates pose of the first object (e.g., R), based on processing through the fourth pose transform (e.g., T N3 E ) the tracking information from the second tracking camera (e.g., N2) which indicates pose of the first object (e.g., R), and based on processing through the fourth pose transform the tracking information from the second tracking camera (e.g., N2) which indicates pose of the second object (e.g., E).
- the fourth pose transform e.g., T N3 E
- an XR headset includes stereo tracking cameras used for inside-out tracking.
- the stereo tracking cameras are used to track the user's eyes and calibrate the headset to the eyes' (e.g., pupils') positions if there are two users facing each other or if a reflective surface is present.
- Eye tracking systems normally use one to two inward facing cameras per eye to track where the eyes of a user wearing an XR headset are located and where the eyes are looking. In some embodiments, the eyes are tracked by their shape directly in visible light.
- FIG. 19 illustrates an embodiment in which two users wearing XR headsets are facing each other and the camera tracking system uses the stereo tracking cameras on each XR headset to track the other user's eyes.
- FIG. 22 illustrates a flow chart of operations performed by a camera tracking system for calibrating eye-to-XR headset displays and responsively controlling where symbols are displayed on XR headsets in accordance with some embodiments.
- a camera tracking system operatively determines 2200 a first pose of a second extended-reality (XR) headset 1910 relative to stereo tracking cameras 1902 located on a first XR headset 1900 based on first tracking information from the stereo tracking cameras 1902 .
- the camera tracking system determines 2202 a second pose of eyes of a user 1920 wearing the second XR headset 1910 relative to the stereo tracking cameras 1902 located on the first XR headset 1900 based on second tracking information from the stereo tracking cameras 1902 .
- the camera tracking system also calibrates 2206 an eye-to-display relationship defining pose of the eyes 1914 of the user 1920 wearing the second XR headset 1910 to a display device of the second XR headset 1910 based on the determined first and second poses.
- the camera tracking system also controls 2208 where symbols are displayed on the display device of the second XR headset 1910 based on the eye-to-display relationship.
- This XR headset embodiment allows the tracking cameras 1902 on the first XR headset 1900 to track the pose of the second XR headset 1910 and the eyes 1914 of the user 1920 directly.
- FIG. 24 illustrates a flow chart of operations performed by the camera tracking system for calibrating eye-to-XR headset displays of the other user (e.g. the user wearing the first XR headset) and responsively controlling where symbols are displayed on XR headsets in accordance with some embodiments.
- the stereo tracking cameras 1912 on the second XR headset 1910 can be used to calibrate the eye-to-display relationship between the eyes 1904 of the user 1930 wearing the first XR headset 1900 . More particularly, the camera tracking system operatively determines 2400 a third pose of a first XR headset 1900 relative to the stereo tracking cameras 1912 located on the second XR headset 1910 based on third tracking information from the stereo tracking cameras 1912 . The camera tracking system determines 2402 a fourth pose of eyes 1904 of the user 1930 wearing the first XR headset 1900 relative to the stereo tracking cameras 1912 located on the second XR headset 1910 based on fourth tracking information from the stereo tracking cameras 1912 .
- the camera tracking system also calibrates 2404 an eye-to-display relationship defining pose of the eyes 1904 of the user 1930 wearing the first XR headset 1900 to a display device of the first XR headset 1900 based on the determined third and fourth poses.
- the camera tracking system also controls 2206 where symbols are displayed on the display device of the first XR headset 1900 based on the eye-to-display relationship.
- This XR headset embodiment allows the tracking cameras 1912 on the second XR headset 1910 to track the pose of the first XR headset 1900 and the eyes 1904 of the user 1930 directly.
- Some other embodiments include tracking markers located on the XR headset in order to improve robustness of headset pose estimation.
- the first tracking information from the stereo tracking cameras 1902 on the first XR headset 1900 tracks a reference array on the second XR headset 1910 .
- the second tracking information from the stereo tracking cameras 1902 tracks the eyes 1914 of the user wearing the second XR headset 1910 .
- the XR headset-to-display transform relates the pose of the reference array on the second XR headset 1910 and the pose of the display device of the second XR headset 1910 .
- the determination of the first pose of the second XR headset 1910 relative to the stereo tracking cameras located on the first XR headset 1900 includes to determine first offset distances between the stereo tracking cameras 1902 located on the first XR headset 1900 and the second XR headset 1910 .
- the determination of the second pose of the eyes 1914 of the user 1920 wearing the second XR headset 1910 relative to the stereo tracking cameras 1902 located on the first XR headset 1900 includes to determine second offset distances between the stereo tracking cameras 1902 located on the first XR headset 1900 and the eyes 1914 of the user 1920 .
- the calibration of the eye-to-display relationship defining pose of the eyes 1914 of the user 1920 wearing the second XR headset 1910 to the display device of the second XR headset 1910 includes to determine third offset distances between the eyes 1914 of the user 1920 and the display device of the second XR headset 1910 based on the first and second offset distances.
- Continuous tracking of the eyes 1914 of the user 1920 may thereby be achieved when there are two users 1920 and 1930 facing each other while respectively wearing the two headsets 1900 and 1910 .
- the outward facing stereo tracking cameras 1902 will be able to track the other headset's pose as well as the other user's eyes 1914 relative to the headset being worn (while the two users are facing each other).
- One example of where this would happen regularly is in a surgery.
- a surgeon and a surgical assistant normally stand across the table from each other and face each other. If both are wearing headsets, the camera tracking system would be able to repetitively or continuously track the both person's headset and eyes.
- the determination of the second pose and the calibration of the eye-to-display relationship are performed responsive to detection of the eyes 1914 of the user 1920 wearing the second XR headset 1910 when imaged in video frames from the stereo tracking cameras 1902 located on the first XR headset 1900 .
- the camera tracking system 910 can perform time synchronization of the video streams in several different embodiments.
- each XR headset provides a synchronization signal which is used by the camera tracking system 910 to synchronize the video streams for purposes of object tracking.
- the synchronization signal may be transmitted through a wired or wireless connection with the video frames.
- the camera tracking system 910 may use the synchronization signals to estimate the time offset between the stereo tracking cameras 1902 and 1912 on the respective XR headsets 1900 and 1910 .
- the XR headsets 1900 and 1910 include a forward-facing light emitter apparatus (e.g., photo-diode/LED).
- the camera tracking system 910 can determine time offset between the stereo tracking cameras 1902 and 1912 based on time offset observed between when the light occurs the video frames.
- the camera tracking system 910 can time align the video streams from the respective stereo tracking cameras 1902 and 1912 to compensate for the determined time offset between the video streams.
- FIG. 20 illustrates an embodiment of one user 2010 wearing an XR headset 2000 who's eyes 2004 are tracking using reflections from a reflective surface 2020 that are imaged in video frames from the stereo tracking cameras 2002 , in accordance with some embodiments of the present disclosure.
- the stereo tracking cameras 2002 can then image the user's eyes 2004 as well as the headset's apparent shape (i.e. pose).
- An outside-in tracking setup such as this allows the cameras 2002 to determine how far away the user 2010 is from the reflective surface 2020 and how far the user's eyes 2004 are from the cameras 2002 and the headset 2000 itself.
- This set up also enables the camera tracking system 910 to estimate the eyes (e.g., pupils) poses in space relative to the headset 2000 .
- the system will be able to render content with less warping and the user 2010 may need to spend less time adjusting the headset 2000 to avoid sharpness degradation in displayed objects and/or degradation in alignment accuracy between where displayed objects are overlaid on tracked real-world objects.
- These operations enable the camera tracking system 910 to compensate for when the headset 2000 shifts on the user's head, but in the case of using imaging from the reflectively surface 2020 , only while the user is looking at the reflective surface 2020 .
- the second XR headset 2000 is a reflected image from a reflective surface 2020 of the first XR headset 2000 imaged in video frames from the stereo tracking cameras 2002 located on the first XR headset 2000 .
- FIG. 21 illustrates an embodiment of tracking coordinate systems for two XR headsets 2100 and 2110 in accordance with some embodiments of the present disclosure. All the optical recognition, tracking and pose estimation are performed by and relative to stereo cameras “CA” and “CB”.
- the translation and orientation relationships between the tracking cameras and headset (or headset marker) coordinate systems (T HA CA and T HB CB ) may be calibrated in the factory or during a subsequent calibration process as may be the camera to display relationships (T DA CA and T DB CB ).
- a potential advantage of applying these translation and orientation relationships between the tracking cameras and headset is that improved calibration of eye-to-display relationships can be dynamically performed and resulting improvements for where symbols are displayed on the display devices of the XR headsets may be obtained during navigated surgery.
- the camera tracking system is further configured to operatively obtain 2204 an XR headset-to-display transform between a pose of the second XR headset and a pose of the display device of the second XR headset.
- the determination of the second pose of the eyes of the user wearing the second XR headset relative to the stereo tracking cameras located on the first XR headset is performed based on the second tracking information from the stereo tracking cameras located on the first XR headset and the XR headset-to-display transform.
- the tracking cameras should be able to recognize and localize both a set of eyes and the corresponding headset coordinate systems in the same optical frames.
- control of where information is displayed on the display device of the second XR headset based on the eye-to-display relationship includes to adjust a projected image displayed on a see-through display screen of the display device of the second XR headset based on the eye-to-display relationship.
- FIG. 23 illustrates a flow chart of operations performed by a camera tracking system in accordance with some embodiments.
- the camera tracking system is further configured to operatively obtain 2300 a display-to-eye distortion transform relating optical distortion of real-world images passing through the see-through display screen of the display device of the second XR headset to where a wearer's eyes are posed relative to the see-through display screen.
- the camera tracking system is also further configured to operatively further control 2302 where symbols are displayed on the see-through display screen of the display device of the second XR headset based on the eye-to-display relationship and the display-to-eye distortion transform.
- recalibration is initiated to ensure accuracy of the displayed images by the XR headset.
- the camera tracking system is further configured to operatively display a prompt on the display device of the second XR headset indicating that the user should look at the first XR headset responsive to expiration of a threshold recalibration time since a last calibration of the eye-to-display relationship was performed.
- the camera tracking system is further configured to operatively display a prompt on the display device of the second XR headset indicating that the user should adjust pose of the second XR headset relative to the eyes of the user responsive to determining the second XR headset has shifted more than a threshold amount relative to the eyes of the user wearing the second XR headset.
- Some other embodiments relate to the tracking of one headset to another (T HA HB ) via the tracking cameras. It may be the case that one headset tracking cameras are obstructed or not properly tracking in the same shared (multi-user) coordinate system. In such a situation, the ability for one headset to directly track the pose of another headset would enable improved shared AR experiences.
- the second XR headset is used to perform inside-out eye tracking of the first XR headset wearer.
- the camera tracking system is further configured to operatively determine a third pose of the first XR headset 1900 relative to second stereo tracking cameras located on the second XR headset based on third tracking information from the second stereo tracking cameras.
- the camera tracking system is also further configured to operatively determine a fourth pose of eyes of a user wearing the first XR headset relative to the second stereo tracking cameras located on the second XR headset based on fourth tracking information from the second stereo tracking cameras.
- the camera tracking system is also further configured to operatively calibrate an eye-to-display relationship defining pose of the eyes of the user wearing the first XR headset to the display device of the first XR headset based on the determined third and fourth poses.
- the camera tracking system is also further configured to operatively control where symbols are displayed on the display device of the first XR headset based on the eye-to-display relationship.
- the following embodiments relate to a computer program product including program code executable by the camera tracking system similar to embodiments discussed above.
- a computer program product comprising a non-transitory computer readable medium storing program code executable by a camera tracking system is operative to determine a first pose of the second XR headset relative to stereo tracking cameras located on the first XR headset based on first tracking information from the stereo tracking cameras.
- the program code executable by the camera tracking system is operative to also determine a second pose of eyes of a user wearing the second XR headset relative to the stereo tracking cameras located on the first XR headset based on second tracking information from the stereo tracking cameras.
- the program code executable by the camera tracking system is operative to also calibrate an eye-to-display relationship defining pose of the eyes of the user wearing the second XR headset to a display device of the second XR headset based on the determined first and second poses.
- the program code executable by the camera tracking system is operative to also control where symbols are displayed on the display device of the second XR headset based on the eye-to-display relationship.
- the program code executable by the camera tracking system is further operative to obtain an XR headset-to-display transform between a pose of the second XR headset and a pose of the display device of the second XR headset.
- the determination of the second pose of the eyes of the user wearing the second XR headset relative to the stereo tracking cameras located on the first XR headset is performed based on the second tracking information from the stereo tracking cameras located on the first XR headset and the XR headset-to-display transform.
- the first tracking information from the stereo tracking cameras tracks a reference array on the second XR headset.
- the second tracking information from the stereo tracking cameras tracks the eyes of the user wearing the second XR headset.
- the XR headset-to-display transform relates the pose of the reference array on the second XR headset and the pose of the display device of the second XR headset.
- the determination of the first pose of the second XR headset relative to the stereo tracking cameras located on the first XR headset includes to determine first offset distances between the stereo tracking cameras located on the first XR headset and the second XR headset.
- the determination of the second pose of the eyes of the user wearing the second XR headset relative to the stereo tracking cameras located on the first XR headset includes to determine second offset distances between the stereo tracking cameras located on the first XR headset and the eyes of the user.
- the calibration of the eye-to-display relationship defining pose of the eyes of the user wearing the second XR headset to the display device of the second XR headset includes to determine third offset distances between the eyes of the user and the display device of the second XR headset based on the first and second offset distances.
- the determination of the second pose and the calibration of the eye-to-display relationship are performed responsive to detection of the eyes of the user wearing the second XR headset when imaged in video frames from the stereo tracking cameras located on the first XR headset.
- control of where information is displayed on the display device of the second XR headset based on the eye-to-display relationship includes to adjust a projected image displayed on a see-through display screen of the display device of the second XR headset based on the eye-to-display relationship.
- the program code executable by the camera tracking system is further operative to obtain a display-to-eye distortion transform relating optical distortion of real-world images passing through the see-through display screen of the display device of the second XR headset to where a wearer's eyes are posed relative to the see-through display screen.
- the program code executable by the camera tracking system is also further operative to further control where symbols are displayed on the see-through display screen of the display device of the second XR headset based on the eye-to-display relationship and the display-to-eye distortion transform.
- the program code executable by the camera tracking system is further operative to, responsive to expiration of a threshold recalibration time since a last calibration of the eye-to-display relationship was performed, displaying a prompt on the display device of the second XR headset indicating that the user should look at the first XR headset.
- the program code executable by the camera tracking system is further operative to, responsive to determining the second XR headset has shifted more than a threshold amount relative to the eyes of the user wearing the second XR headset, displaying a prompt on the display device of the second XR headset indicating that the user should adjust pose of the second XR headset relative to the eyes of the user.
- the program code executable by the camera tracking system is further operative to determine a third pose of the first XR headset relative to second stereo tracking cameras located on the second XR headset based on third tracking information from the second stereo tracking cameras.
- the program code executable by the camera tracking system is also further operative to determine a fourth pose of eyes of a user wearing the first XR headset relative to the second stereo tracking cameras located on the second XR headset based on fourth tracking information from the second stereo tracking cameras.
- the program code executable by the camera tracking system is also further operative to calibrate an eye-to-display relationship defining pose of the eyes of the user wearing the first XR headset to the display device of the first XR headset based on the determined third and fourth pose.
- the program code executable by the camera tracking system is also further operative to control where symbols are displayed on the display device of the first XR headset based on the eye-to-display relationship.
- the terms “comprise”, “comprising”, “comprises”, “include”, “including”, “includes”, “have”, “has”, “having”, or variants thereof are open-ended, and include one or more stated features, integers, elements, steps, components or functions but does not preclude the presence or addition of one or more other features, integers, elements, steps, components, functions or groups thereof.
- the common abbreviation “e.g.”, which derives from the Latin phrase “exempli gratia,” may be used to introduce or specify a general example or examples of a previously mentioned item, and is not intended to be limiting of such item.
- the common abbreviation “i.e.”, which derives from the Latin phrase “id est,” may be used to specify a particular item from a more general recitation.
- Example embodiments are described herein with reference to block diagrams and/or flowchart illustrations of computer-implemented methods, apparatus (systems and/or devices) and/or computer program products. It is understood that a block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions that are performed by one or more computer circuits.
- These computer program instructions may be provided to a processor circuit of a general purpose computer circuit, special purpose computer circuit, and/or other programmable data processing circuit to produce a machine, such that the instructions, which execute via the processor of the computer and/or other programmable data processing apparatus, transform and control transistors, values stored in memory locations, and other hardware components within such circuitry to implement the functions/acts specified in the block diagrams and/or flowchart block or blocks, and thereby create means (functionality) and/or structure for implementing the functions/acts specified in the block diagrams and/or flowchart block(s).
- inventions of present inventive concepts may be embodied in hardware and/or in software (including firmware, resident software, micro-code, etc.) that runs on a processor such as a digital signal processor, which may collectively be referred to as “circuitry,” “a module” or variants thereof.
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Pathology (AREA)
- Primary Health Care (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Gynecology & Obstetrics (AREA)
- Computer Hardware Design (AREA)
- Electromagnetism (AREA)
- Business, Economics & Management (AREA)
- General Business, Economics & Management (AREA)
- Data Mining & Analysis (AREA)
- Databases & Information Systems (AREA)
- Urology & Nephrology (AREA)
- Manipulator (AREA)
Abstract
A camera tracking system for computer assisted navigation during surgery operatively determines a first pose of a second extended-reality (XR) headset relative to stereo tracking cameras located on a first XR headset based on first tracking information from the stereo tracking cameras. The camera tracking system determines a second pose of eyes of a user wearing the second XR headset relative to the stereo tracking cameras located on the first XR headset based on second tracking information from the stereo tracking cameras. The camera tracking system also calibrates an eye-to-display relationship defining pose of the eyes of the user wearing the second XR headset to a display device of the second XR headset based on the determined first and second poses. The camera tracking system also controls where symbols are displayed on the display device of the second XR headset based on the eye-to-display relationship.
Description
- The present application is a continuation of U.S. patent application Ser. No. 16/902,715, filed Jun. 16, 2020, which is incorporated herein by reference.
- The present disclosure relates to medical devices and systems, and more particularly, camera tracking systems used for computer assisted navigation during surgery.
- Computer assisted navigation in surgery provides surgeons with enhanced visualization of surgical instruments with respect to radiographic images of the patient's anatomy. Navigated surgeries typically include components for tracking the position and orientation of surgical instruments via arrays of disks or spheres using a single stereo camera system.
- Eye tracking can have major advantages in wearable extended reality display systems. Eye tracking allows for more accurate overlays of virtual content displayed on the physical world, and proper warping of the frames being sent to the displays for more realistic content.
- Eye tracking, unfortunately, can be expensive, bulky, and difficult to integrate. It normally requires 2-4 cameras as well as infrared strobes which need to see/shine on the pupils to be mounted inside of a headset. This set up requires specific positioning of the eye tracker which may not be possible in certain headset/optic designs. One additional downfall to adding the necessary equipment is that the additions also increase the weight and size of an augmented reality headset.
- Various embodiments disclosed herein are directed to improvements in eye tracking for calibrating pose of a user's eyes to a display device of an extended reality (XR) headset during computer assisted navigation during surgery.
- In one embodiment, a camera tracking system for computer assisted navigation during surgery operatively determines a first pose of a second XR headset relative to stereo tracking cameras located on a first XR headset based on first tracking information from the stereo tracking cameras. The camera tracking system determines a second pose of eyes of a user wearing the second XR headset relative to the stereo tracking cameras located on the first XR headset based on second tracking information from the stereo tracking cameras. The camera tracking system also calibrates an eye-to-display relationship defining pose of the eyes of the user wearing the second XR headset to a display device of the second XR headset based on the determined first and second poses. The camera tracking system also controls where symbols are displayed on the display device of the second XR headset based on the eye-to-display relationship.
- Related methods by a camera tracking system and related computer program products are disclosed.
- Other camera tracking systems, methods, and computer program products according to embodiments will be or become apparent to one with skill in the art upon review of the following drawings and detailed description. It is intended that all such camera tracking systems, methods, and computer program products be included within this description, be within the scope of the present disclosure, and be protected by the accompanying claims. Moreover, it is intended that all embodiments disclosed herein can be implemented separately or combined in any way and/or combination.
- The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in a constitute a part of this application, illustrate certain non-limiting embodiments of inventive concepts. In the drawings:
-
FIG. 1 illustrates an embodiment of a surgical system according to some embodiments of the present disclosure; -
FIG. 2 illustrates a surgical robot component of the surgical system ofFIG. 1 according to some embodiments of the present disclosure; -
FIG. 3A illustrates a camera tracking system component of the surgical system ofFIG. 1 according to some embodiments of the present disclosure; -
FIGS. 3B and 3C illustrate a front view and isometric view of another camera tracking system component which may be used with the surgical system ofFIG. 1 according to some embodiments of the present disclosure; -
FIG. 4 illustrates an embodiment of an end effector that is connectable to a robot arm and configured according to some embodiments of the present disclosure; -
FIG. 5 illustrates a medical operation in which a surgical robot and a camera system are disposed around a patient; -
FIG. 6 illustrates a block diagram view of the components of the surgical system ofFIG. 5 being used for a medical operation; -
FIG. 7 illustrates various display screens that may be displayed on the display ofFIGS. 5 and 6 when using a navigation function of the surgical system; -
FIG. 8 illustrates a block diagram of some electrical components of a surgical robot according to some embodiments of the present disclosure; -
FIG. 9 illustrates a block diagram of components of a surgical system that includes imaging devices connected to a computer platform which can be operationally connected to a camera tracking system and/or surgical robot according to some embodiments of the present disclosure; -
FIG. 10 illustrates an embodiment of a C-Arm imaging device that can be used in combination with the surgical robot in accordance with some embodiments of the present disclosure; -
FIG. 11 illustrates an embodiment of an O-Arm imaging device that can be used in combination with the surgical robot in accordance with some embodiments of the present disclosure; -
FIG. 12 illustrates a block diagram view of the components of a surgical system that includes a pair of XR headsets and an auxiliary tracking bar which operate in accordance with some embodiments of the present disclosure; -
FIG. 13 illustrates an XR headset which is configured in accordance with some embodiments of the present disclosure; -
FIG. 14 illustrates electrical components of the XR headset that can be operatively connected to a computer platform, imaging device(s), and/or a surgical robot in accordance with some embodiments of the present disclosure; -
FIG. 15 illustrates a block diagram showing arrangement of optical components of the XR headset in accordance with some embodiments of the present disclosure; -
FIG. 16 illustrates an example view through the display screen of an XR headset for providing navigation assistance to manipulate a surgical tool during a medical procedure in accordance with some embodiments of the present disclosure; -
FIG. 17 illustrates an example configuration of an auxiliary tracking bar having two pairs of stereo cameras configured in accordance with some embodiments of the present disclosure; -
FIG. 18 illustrates a block diagram view of the components of a surgical system that includes tracking cameras in a pair of XR headsets and in an auxiliary tracking bar which collectively operate in accordance with some embodiments of the present disclosure; -
FIG. 19 illustrates an embodiment of two users wearing XR headsets operative to track each other's eyes in accordance with some embodiments of the present disclosure; -
FIG. 20 illustrates an embodiment of one user wearing an XR headset operative to tracking the user's eyes using a reflective surface accordance with some embodiments of the present disclosure; -
FIG. 21 illustrates an embodiment of tracking coordinate systems for two XR headsets in accordance with some embodiments of the present disclosure; and -
FIGS. 22, 23, and 24 illustrate flow charts of operations performed by a camera tracking system for calibrating eye-to-XR headset displays and responsively controlling where symbols are displayed on XR headsets in accordance with some embodiments. - Inventive concepts will now be described more fully hereinafter with reference to the accompanying drawings, in which examples of embodiments of inventive concepts are shown. Inventive concepts may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of various present inventive concepts to those skilled in the art. It should also be noted that these embodiments are not mutually exclusive. Components from one embodiment may be tacitly assumed to be present or used in another embodiment.
- Various embodiments disclosed herein are directed to improvements in computer assisted navigation during surgery. An extended reality (XR) headset is operatively connected to the surgical system and configured to provide an interactive environment through which a surgeon, assistant, and/or other personnel can view and select among patient images, view and select among computer generated surgery navigation information, and/or control surgical equipment in the operating room. As will be explained below, the XR headset may be configured to augment a real-world scene with computer generated XR images. The XR headset may be configured to provide an augmented reality (AR) viewing environment by displaying the computer generated XR images on a see-through display screen that allows light from the real-world scene to pass therethrough for combined viewing by the user. Alternatively, the XR headset may be configured to provide a virtual reality (VR) viewing environment by preventing or substantially preventing light from the real-world scene from being directly viewed by the user while the user is viewing the computer generated AR images on a display screen. An XR headset can be configured to provide both AR and VR viewing environments. In one embodiment, both AR and VR viewing environments are provided by lateral bands of substantially differing opacity arranged between the see-through display screen and the real-world scene, so that a VR viewing environment is provided for XR images aligned with a high opacity band and an AR viewing environment is provided for XR images aligned with the low opacity band. In another embodiment, both AR and VR viewing environments are provided by computer adjustable control of an opacity filter that variably constrains how much light from the real-world scene passes through a see-through display screen for combining with the XR images viewed by the user. Thus, the XR headset can also be referred to as an AR headset or a VR headset.
-
FIG. 1 illustrates an embodiment of a surgical system 2 according to some embodiments of the present disclosure. Prior to performance of an orthopedic or other surgical procedure, a three-dimensional (“3D”) image scan may be taken of a planned surgical area of a patient using, e.g., the C-Arm imaging device 104 ofFIG. 10 or O-Arm imaging device 106 ofFIG. 11 , or from another medical imaging device such as a computed tomography (CT) image or MRI. This scan can be taken pre-operatively (e.g. few weeks before procedure, most common) or intra-operatively. However, any known 3D or 2D image scan may be used in accordance with various embodiments of the surgical system 2. The image scan is sent to a computer platform in communication with the surgical system 2, such as thecomputer platform 910 of the surgical system 900 (FIG. 9 ) which may include the cameratracking system component 6, the surgical robot 4 (e.g., robot 2 inFIG. 1 ), imaging devices (e.g., C-Arm 104, O-Arm 106, etc.), and animage database 950 for storing image scans of patients. A surgeon reviewing the image scan(s) on a display device of the computer platform 910 (FIG. 9 ) generates a surgical plan defining a target pose for a surgical tool to be used during a surgical procedure on an anatomical structure of the patient. Example surgical tools, also referred to as tools, can include, without limitation, drills, screw drivers, retractors, and implants such as a screws, spacers, interbody fusion devices, plates, rods, etc. In some embodiments, the surgical plan defining the target plane is planned on the 3D image scan displayed on a display device. - As used herein, the term “pose” refers to the position and/or the rotational angle of one object (e.g., dynamic reference array, end effector, surgical tool, anatomical structure, etc.) relative to another object and/or to a defined coordinate system. A pose may therefore be defined based on only the multidimensional position of one object relative to another object and/or to a defined coordinate system, only on the multidimensional rotational angles of the object relative to another object and/or to a defined coordinate system, or on a combination of the multidimensional position and the multidimensional rotational angles. The term “pose” therefore is used to refer to position, rotational angle, or combination thereof.
- The surgical system 2 of
FIG. 1 can assist surgeons during medical procedures by, for example, holding tools, aligning tools, using tools, guiding tools, and/or positioning tools for use. In some embodiments, surgical system 2 includes asurgical robot 4 and a cameratracking system component 6. The ability to mechanically couplesurgical robot 4 and cameratracking system component 6 can allow for surgical system 2 to maneuver and move as a single unit, and allow surgical system 2 to have a small footprint in an area, allow easier movement through narrow passages and around turns, and allow storage within a smaller area. - A surgical procedure may begin with the surgical system 2 moving from medical storage to a medical procedure room. The surgical system 2 may be maneuvered through doorways, halls, and elevators to reach a medical procedure room. Within the room, the surgical system 2 may be physically separated into two separate and distinct systems, the
surgical robot 4 and the cameratracking system component 6.Surgical robot 4 may be positioned adjacent the patient at any suitable location to properly assist medical personnel. Cameratracking system component 6 may be positioned at the base of the patient, at the patient shoulders, or any other location suitable to track the present pose and movement of the pose of tracks portions of thesurgical robot 4 and the patient.Surgical robot 4 and cameratracking system component 6 may be powered by an onboard power source and/or plugged into an external wall outlet. -
Surgical robot 4 may be used to assist a surgeon by holding and/or using tools during a medical procedure. To properly utilize and hold tools,surgical robot 4 may rely on a plurality of motors, computers, and/or actuators to function properly. Illustrated inFIG. 1 ,robot body 8 may act as the structure in which the plurality of motors, computers, and/or actuators may be secured withinsurgical robot 4.Robot body 8 may also provide support for robottelescoping support arm 16. The size ofrobot body 8 may provide a solid platform supporting attached components, and may house, conceal, and protect the plurality of motors, computers, and/or actuators that may operate attached components. -
Robot base 10 may act as a lower support forsurgical robot 4. In some embodiments,robot base 10 may supportrobot body 8 and may attachrobot body 8 to a plurality ofpowered wheels 12. This attachment to wheels may allowrobot body 8 to move in space efficiently.Robot base 10 may run the length and width ofrobot body 8.Robot base 10 may be about two inches to about 10 inches tall.Robot base 10 may cover, protect, and support poweredwheels 12. - In some embodiments, as illustrated in
FIG. 1 , at least onepowered wheel 12 may be attached torobot base 10.Powered wheels 12 may attach torobot base 10 at any location. Each individual poweredwheel 12 may rotate about a vertical axis in any direction. A motor may be disposed above, within, or adjacent topowered wheel 12. This motor may allow for surgical system 2 to maneuver into any location and stabilize and/or level surgical system 2. A rod, located within or adjacent topowered wheel 12, may be pressed into a surface by the motor. The rod, not pictured, may be made of any suitable metal to lift surgical system 2. The rod may lift poweredwheel 10, which may lift surgical system 2, to any height required to level or otherwise fix the orientation of the surgical system 2 in relation to a patient. The weight of surgical system 2, supported through small contact areas by the rod on each wheel, prevents surgical system 2 from moving during a medical procedure. This rigid positioning may prevent objects and/or people from moving surgical system 2 by accident. - Moving surgical system 2 may be facilitated using
robot railing 14.Robot railing 14 provides a person with the ability to move surgical system 2 without graspingrobot body 8. As illustrated inFIG. 1 ,robot railing 14 may run the length ofrobot body 8, shorter thanrobot body 8, and/or may run longer the length ofrobot body 8.Robot railing 14 may further provide protection torobot body 8, preventing objects and or personnel from touching, hitting, or bumping intorobot body 8. -
Robot body 8 may provide support for a Selective Compliance Articulated Robot Arm, hereafter referred to as a “SCARA.” ASCARA 24 may be beneficial to use within the surgical system 2 due to the repeatability and compactness of the robotic arm. The compactness of a SCARA may provide additional space within a medical procedure, which may allow medical professionals to perform medical procedures free of excess clutter and confining areas.SCARA 24 may compriserobot telescoping support 16,robot support arm 18, and/orrobot arm 20.Robot telescoping support 16 may be disposed alongrobot body 8. As illustrated inFIG. 1 ,robot telescoping support 16 may provide support for theSCARA 24 anddisplay 34. In some embodiments,robot telescoping support 16 may extend and contract in a vertical direction. The body ofrobot telescoping support 16 may be any width and/or height configured to support the stress and weight placed upon it. - In some embodiments, medical personnel may move
SCARA 24 through a command submitted by the medical personnel. The command may originate from input received ondisplay 34, a tablet, and/or an XR headset (e.g.,headset 920 inFIG. 9 ) as will be explained in further detail below. The XR headset may eliminate the need for medical personnel to refer to any other display such as thedisplay 34 or a tablet, which enables theSCARA 24 to be configured without thedisplay 34 and/or the tablet. The command may be generated by the depression of a switch and/or the depression of a plurality of switches, and/or may be generated based on a hand gesture command and/or voice command that is sensed by the XR headset as will be explained in further detail below. - As shown in
FIG. 5 , anactivation assembly 60 may include a switch and/or a plurality of switches. Theactivation assembly 60 may be operable to transmit a move command to theSCARA 24 allowing an operator to manually manipulate theSCARA 24. When the switch, or plurality of switches, is depressed the medical personnel may have the ability to moveSCARA 24 through applied hand movements. Alternatively or additionally, an operator may control movement of theSCARA 24 through hand gesture commands and/or voice commands that are sensed by the XR headset as will be explained in further detail below. Additionally, when theSCARA 24 is not receiving a command to move, theSCARA 24 may lock in place to prevent accidental movement by personnel and/or other objects. By locking in place, theSCARA 24 provides a solid platform through which theend effector 26 can guide a surgical tool during a medical procedure. -
Robot support arm 18 can be connected torobot telescoping support 16 by various mechanisms. In some embodiments, best seen inFIGS. 1 and 2 ,robot support arm 18 rotates in any direction in regard torobot telescoping support 16.Robot support arm 18 may rotate three hundred and sixty degrees aroundrobot telescoping support 16.Robot arm 20 may connect torobot support arm 18 at any suitable location and by various mechanisms that enable rotation in any direction relative torobot support arm 18. In one embodiment, therobot arm 20 can rotate three hundred and sixty degrees relative to therobot support arm 18. This free rotation allows an operator to positionrobot arm 20 according to a surgical plan. - The
end effector 26 shown inFIGS. 4 and 5 may attach torobot arm 20 in any suitable location. Theend effector 26 can be configured to attach to anend effector coupler 22 of therobot arm 20 positioned by thesurgical robot 4. Theexample end effector 26 includes a tubular guide that guides movement of an inserted surgical tool relative to an anatomical structure on which a surgical procedure is to be performed. - In some embodiments, a
dynamic reference array 52 is attached to theend effector 26. Dynamic reference arrays, also referred to as “DRAB” herein, are rigid bodies which may be disposed on an anatomical structure (e.g., bone) of a patient, one or more XR headsets being worn by personnel in the operating room, the end effector, the surgical robot, a surgical tool in a navigated surgical procedure. Thecomputer platform 910 in combination with the cameratracking system component 6 or other 3D localization system are configured to track in real-time the pose (e.g., positions and rotational orientations) of the DRA. The DRA can include fiducials, such as the illustrated arrangement of balls. This tracking of 3D coordinates of the DRA can allow the surgical system 2 to determine the pose of the DRA in any multidimensional space in relation to the target anatomical structure of the patient 50 inFIG. 5 . - As illustrated in
FIG. 1 , alight indicator 28 may be positioned on top of theSCARA 24.Light indicator 28 may illuminate as any type of light to indicate “conditions” in which surgical system 2 is currently operating. In some embodiments, the light may be produced by LED bulbs, which may form a ring aroundlight indicator 28.Light indicator 28 may comprise a fully permeable material that can let light shine through the entirety oflight indicator 28.Light indicator 28 may be attached tolower display support 30.Lower display support 30, as illustrated inFIG. 2 may allow an operator to maneuverdisplay 34 to any suitable location.Lower display support 30 may attach tolight indicator 28 by any suitable mechanism. In some embodiments,lower display support 30 may rotate aboutlight indicator 28 or be rigidly attached thereto.Upper display support 32 may attach tolower display support 30 by any suitable mechanism. - In some embodiments, a tablet may be used in conjunction with
display 34 and/or withoutdisplay 34. The tablet may be disposed onupper display support 32, in place ofdisplay 34, and may be removable fromupper display support 32 during a medical operation. In addition the tablet may communicate withdisplay 34. The tablet may be able to connect tosurgical robot 4 by any suitable wireless and/or wired connection. In some embodiments, the tablet may be able to program and/or control surgical system 2 during a medical operation. When controlling surgical system 2 with the tablet, all input and output commands may be duplicated ondisplay 34. The use of a tablet may allow an operator to manipulatesurgical robot 4 without having to move aroundpatient 50 and/or tosurgical robot 4. - As will be explained below, in some embodiments a surgeon and/or other personnel can wear XR headsets that may be used in conjunction with
display 34 and/or a tablet or the XR head(s) may eliminate the need for use of thedisplay 34 and/or tablet. - As illustrated in
FIGS. 3A and 5 , cameratracking system component 6 works in conjunction withsurgical robot 4 through wired or wireless communication networks. Referring toFIGS. 1, 3 and 5 , cameratracking system component 6 can include some similar components to thesurgical robot 4. For example,camera body 36 may provide the functionality found inrobot body 8.Robot body 8 may provide an auxiliary tracking bar upon whichcameras 46 are mounted. The structure withinrobot body 8 may also provide support for the electronics, communication devices, and power supplies used to operate cameratracking system component 6.Camera body 36 may be made of the same material asrobot body 8. Cameratracking system component 6 may communicate directly to an XR headset, tablet and/ordisplay 34 by a wireless and/or wired network to enable the XR headset, tablet and/ordisplay 34 to control the functions of cameratracking system component 6. -
Camera body 36 is supported bycamera base 38.Camera base 38 may function asrobot base 10. In the embodiment ofFIG. 1 ,camera base 38 may be wider thanrobot base 10. The width ofcamera base 38 may allow for cameratracking system component 6 to connect withsurgical robot 4. As illustrated inFIG. 1 , the width ofcamera base 38 may be large enough to fitoutside robot base 10. When cameratracking system component 6 andsurgical robot 4 are connected, the additional width ofcamera base 38 may allow surgical system 2 additional maneuverability and support for surgical system 2. - As with
robot base 10, a plurality ofpowered wheels 12 may attach tocamera base 38.Powered wheel 12 may allow cameratracking system component 6 to stabilize and level or set fixed orientation in regards topatient 50, similar to the operation ofrobot base 10 andpowered wheels 12. This stabilization may prevent cameratracking system component 6 from moving during a medical procedure and may keepcameras 46 on the auxiliary tracking bar from losing track of a DRA connected to an XR headset and/or thesurgical robot 4, and/or losing track of one or more DRAs 52 connected to ananatomical structure 54 and/ortool 58 within a designatedarea 56 as shown inFIGS. 3A and 5 . This stability and maintenance of tracking enhances the ability ofsurgical robot 4 to operate effectively with cameratracking system component 6. Additionally, thewide camera base 38 may provide additional support to cameratracking system component 6. Specifically, awide camera base 38 may prevent cameratracking system component 6 from tipping over whencameras 46 is disposed over a patient, as illustrated inFIGS. 3A and 5 . -
Camera telescoping support 40 may supportcameras 46 on the auxiliary tracking bar. In some embodiments, telescopingsupport 40moves cameras 46 higher or lower in the vertical direction. Camera handle 48 may be attached tocamera telescoping support 40 at any suitable location and configured to allow an operator to move cameratracking system component 6 into a planned position before a medical operation. In some embodiments, camera handle 48 is used to lower and raisecamera telescoping support 40. Camera handle 48 may perform the raising and lowering ofcamera telescoping support 40 through the depression of a button, switch, lever, and/or any combination thereof. - Lower
camera support arm 42 may attach tocamera telescoping support 40 at any suitable location, in embodiments, as illustrated inFIG. 1 , lowercamera support arm 42 may rotate three hundred and sixty degrees around telescopingsupport 40. This free rotation may allow an operator to positioncameras 46 in any suitable location. Lowercamera support arm 42 may connect to telescopingsupport 40 by any suitable mechanism. Lowercamera support arm 42 may be used to provide support forcameras 46.Cameras 46 may be attached to lowercamera support arm 42 by any suitable mechanism.Cameras 46 may pivot in any direction at the attachment area betweencameras 46 and lowercamera support arm 42. In embodiments a curved rail 44 may be disposed on lowercamera support arm 42. - Curved rail 44 may be disposed at any suitable location on lower
camera support arm 42. As illustrated inFIG. 3A , curved rail 44 may attach to lowercamera support arm 42 by any suitable mechanism. Curved rail 44 may be of any suitable shape, a suitable shape may be a crescent, circular, oval, elliptical, and/or any combination thereof.Cameras 46 may be movably disposed along curved rail 44.Cameras 46 may attach to curved rail 44 by, for example, rollers, brackets, braces, motors, and/or any combination thereof. Motors and rollers, not illustrated, may be used to movecameras 46 along curved rail 44. As illustrated inFIG. 3A , during a medical procedure, if an object preventscameras 46 from viewing one or more DRAs being tracked, the motors may responsively movecameras 46 along curved rail 44. This motorized movement may allowcameras 46 to move to a new position that is no longer obstructed by the object without moving cameratracking system component 6. Whilecameras 46 is obstructed from viewing one or more tracked DRAs, cameratracking system component 6 may send a stop signal to asurgical robot 4, XR headset,display 34, and/or a tablet. The stop signal may preventSCARA 24 from moving untilcameras 46 has reacquired tracked DRAs 52 and/or can warn an operator wearing the XR headset and/or viewing thedisplay 34 and/or the tablet. ThisSCARA 24 can be configured to respond to receipt of a stop signal by stopping further movement of the base and/orend effector coupler 22 until the camera tracking system can resume tracking of DRAs. -
FIGS. 3B and 3C illustrate a front view and isometric view of another cameratracking system component 6′ which may be used with the surgical system ofFIG. 1 or may be used independent of a surgical robot. For example, the cameratracking system component 6′ may be used for providing navigated surgery without use of robotic guidance. One of the differences between the cameratracking system component 6′ ofFIGS. 3B and 3C and the cameratracking system component 6 ofFIG. 3A , is that the cameratracking system component 6′ ofFIGS. 3B and 3C includes a housing that transports thecomputer platform 910. Thecomputer platform 910 can be configured to perform camera tracking operations to track DRAs, perform navigated surgery operations that provide surgical navigation information to a display device, e.g., XR headset and/or other display device, and perform other computational operations disclosed herein. Thecomputer platform 910 can therefore include a navigation computer, such as one or more of the navigation computers ofFIG. 14 . -
FIG. 6 illustrates a block diagram view of the components of the surgical system ofFIG. 5 used for the medical operation. Referring toFIG. 6 , the trackingcameras 46 on the auxiliary tracking bar has a navigation field-of-view 600 in which the pose (e.g., position and orientation) of thereference array 602 attached to the patient, thereference array 604 attached to the surgical instrument, and therobot arm 20 are tracked. The trackingcameras 46 may be part of the cameratracking system component 6′ ofFIGS. 3B and 3C , which includes thecomputer platform 910 configured to perform the operations described below. The reference arrays enable tracking by reflecting light in known patterns, which are decoded to determine their respective poses by the tracking subsystem of thesurgical robot 4. If the line-of-sight between thepatient reference array 602 and thetracking cameras 46 in the auxiliary tracking bar is blocked (for example, by a medical personnel, instrument, etc.), further navigation of the surgical instrument may not be able to be performed and a responsive notification may temporarily halt further movement of therobot arm 20 andsurgical robot 4, display a warning on thedisplay 34, and/or provide an audible warning to medical personnel. Thedisplay 34 is accessible to thesurgeon 610 andassistant 612 but viewing requires a head to be turned away from the patient and for eye focus to be changed to a different distance and location. The navigation software may be controlled by atech personnel 614 based on vocal instructions from the surgeon. -
FIG. 7 illustrates various display screens that may be displayed on thedisplay 34 ofFIGS. 5 and 6 by thesurgical robot 4 when using a navigation function of the surgical system 2. The display screens can include, without limitation, patient radiographs with overlaid graphical representations of models of instruments that are positioned in the display screens relative to the anatomical structure based on a developed surgical plan and/or based on poses of tracked reference arrays, various user selectable menus for controlling different stages of the surgical procedure and dimension parameters of a virtually projected implant (e.g. length, width, and/or diameter). - For navigated surgery, various processing components (e.g., computer platform 910) and associated software described below are provided that enable pre-operatively planning of a surgical procedure, e.g., implant placement, and electronic transfer of the plan to
computer platform 910 to provide navigation information to one or more users during the planned surgical procedure. - For robotic navigation, various processing components (e.g., computer platform 910) and associated software described below are provided that enable pre-operatively planning of a surgical procedure, e.g., implant placement, and electronic transfer of the plan to the
surgical robot 4. Thesurgical robot 4 uses the plan to guide therobot arm 20 andconnected end effector 26 to provide a target pose for a surgical tool relative to a patient anatomical structure for a step of the planned surgical procedure. - Various embodiments below are directed to using one or more XR headsets that can be worn by the
surgeon 610, theassistant 612, and/or other medical personnel to provide an improved user interface for receiving information from and/or providing control commands to the surgical robot, the cameratracking system component 6/6′, and/or other medical equipment in the operating room. -
FIG. 8 illustrates a block diagram of some electrical components of thesurgical robot 4 according to some embodiments of the present disclosure. Referring toFIG. 8 , a load cell (not shown) may be configured to track force applied to endeffector coupler 22. In some embodiments the load cell may communicate with a plurality ofmotors controller 846.Controller 846 may take the force information from load cell and process it with a switch algorithm. The switch algorithm is used by thecontroller 846 to control amotor driver 842. Themotor driver 842 controls operation of one or more of themotors Motor driver 842 may direct a specific motor to produce, for example, an equal amount of force measured by load cell through the motor. In some embodiments, the force produced may come from a plurality of motors, e.g., 850-854, as directed bycontroller 846. Additionally,motor driver 842 may receive input fromcontroller 846.Controller 846 may receive information from load cell as to the direction of force sensed by load cell.Controller 846 may process this information using a motion controller algorithm. The algorithm may be used to provide information tospecific motor drivers 842. To replicate the direction of force,controller 846 may activate and/or deactivatecertain motor drivers 842.Controller 846 may control one or more motors, e.g. one or more of 850-854, to induce motion ofend effector 26 in the direction of force sensed by load cell. This force-controlled motion may allow an operator to moveSCARA 24 andend effector 26 effortlessly and/or with very little resistance. Movement ofend effector 26 can be performed to positionend effector 26 in any suitable pose (i.e., location and angular orientation relative to defined three-dimensional (3D) orthogonal reference axes) for use by medical personnel. -
Activation assembly 60, best illustrated inFIG. 5 , may form of a bracelet that wraps aroundend effector coupler 22. Theactivation assembly 60 may be located on any part ofSCARA 24, any part ofend effector coupler 22, may be worn by medical personnel (and communicate wirelessly), and/or any combination thereof.Activation assembly 60 may comprise of a primary button and a secondary button. - Depressing primary button may allow an operator to move
SCARA 24 andend effector coupler 22. According to one embodiment, once set in place,SCARA 24 andend effector coupler 22 may not move until an operator programssurgical robot 4 to moveSCARA 24 andend effector coupler 22, or is moved using primary button. In some examples, it may require the depression of at least two non-adjacent primary activation switches beforeSCARA 24 andend effector coupler 22 will respond to operator commands. Depression of at least two primary activation switches may prevent the accidental movement ofSCARA 24 andend effector coupler 22 during a medical procedure. - Activated by primary button, load cell may measure the force magnitude and/or direction exerted upon
end effector coupler 22 by an operator, i.e. medical personnel. This information may be transferred to one or more motors, e.g. one or more of 850-854, withinSCARA 24 that may be used to moveSCARA 24 andend effector coupler 22. Information as to the magnitude and direction of force measured by load cell may cause the one or more motors, e.g. one or more of 850-854, to moveSCARA 24 andend effector coupler 22 in the same direction as sensed by the load cell. This force-controlled movement may allow the operator to moveSCARA 24 andend effector coupler 22 easily and without large amounts of exertion due to themotors moving SCARA 24 andend effector coupler 22 at the same time the operator is movingSCARA 24 andend effector coupler 22. - In some examples, a secondary button may be used by an operator as a “selection” device. During a medical operation,
surgical robot 4 may notify medical personnel to certain conditions by the XR headset(s) 920,display 34 and/orlight indicator 28. The XR headset(s) 920 are each configured to display images on a see-through display screen to form an extended reality image that is overlaid on real-world objects viewable through the see-through display screen. Medical personnel may be prompted bysurgical robot 4 to select a function, mode, and/or assess the condition of surgical system 2. Depressing secondary button a single time may activate certain functions, modes, and/or acknowledge information communicated to medical personnel through the XR headset(s) 920,display 34 and/orlight indicator 28. Additionally, depressing the secondary button multiple times in rapid succession may activate additional functions, modes, and/or select information communicated to medical personnel through the XR headset(s) 920,display 34 and/orlight indicator 28. - With further reference to
FIG. 8 , electrical components of thesurgical robot 4 includeplatform subsystem 802,computer subsystem 820,motion control subsystem 840, andtracking subsystem 830.Platform subsystem 802 includesbattery 806,power distribution module 804,connector panel 808, and chargingstation 810.Computer subsystem 820 includescomputer 822,display 824, andspeaker 826.Motion control subsystem 840 includesdriver circuit 842,motors stabilizers end effector connector 844, andcontroller 846.Tracking subsystem 830 includesposition sensor 832 andcamera converter 834.Surgical robot 4 may also include aremovable foot pedal 880 andremovable tablet computer 890. - Input power is supplied to
surgical robot 4 via a power source which may be provided topower distribution module 804.Power distribution module 804 receives input power and is configured to generate different power supply voltages that are provided to other modules, components, and subsystems ofsurgical robot 4.Power distribution module 804 may be configured to provide different voltage supplies toconnector panel 808, which may be provided to other components such ascomputer 822,display 824,speaker 826,driver 842 to, for example, power motors 850-854 andend effector coupler 844, and provided tocamera converter 834 and other components forsurgical robot 4.Power distribution module 804 may also be connected tobattery 806, which serves as temporary power source in the event thatpower distribution module 804 does not receive power from an input power. At other times,power distribution module 804 may serve to chargebattery 806. -
Connector panel 808 may serve to connect different devices and components tosurgical robot 4 and/or associated components and modules.Connector panel 808 may contain one or more ports that receive lines or connections from different components. For example,connector panel 808 may have a ground terminal port that may groundsurgical robot 4 to other equipment, a port to connectfoot pedal 880, a port to connect to trackingsubsystem 830, which may includeposition sensor 832,camera converter 834, andDRA tracking cameras 870.Connector panel 808 may also include other ports to allow USB, Ethernet, HDMI communications to other components, such ascomputer 822. In accordance with some embodiments, theconnector panel 808 can include a wired and/or wireless interface for operatively connecting one ormore XR headsets 920 to thetracking subsystem 830 and/or thecomputer subsystem 820. -
Control panel 816 may provide various buttons or indicators that control operation ofsurgical robot 4 and/or provide information fromsurgical robot 4 for observation by an operator. For example,control panel 816 may include buttons to power on or offsurgical robot 4, lift or lowervertical column 16, and lift or lower stabilizers 855-858 that may be designed to engagecasters 12 to locksurgical robot 4 from physically moving. Other buttons may stopsurgical robot 4 in the event of an emergency, which may remove all motor power and apply mechanical brakes to stop all motion from occurring.Control panel 816 may also have indicators notifying the operator of certain system conditions such as a line power indicator or status of charge forbattery 806. In accordance with some embodiments, one ormore XR headsets 920 may communicate, e.g. via theconnector panel 808, to control operation of thesurgical robot 4 and/or to received and display information generated bysurgical robot 4 for observation by persons wearing theXR headsets 920. -
Computer 822 ofcomputer subsystem 820 includes an operating system and software to operate assigned functions ofsurgical robot 4.Computer 822 may receive and process information from other components (for example,tracking subsystem 830,platform subsystem 802, and/or motion control subsystem 840) in order to display information to the operator. Further,computer subsystem 820 may provide output through thespeaker 826 for the operator. The speaker may be part of the surgical robot, part of anXR headset 920, or within another component of the surgical system 2. Thedisplay 824 may correspond to thedisplay 34 shown inFIGS. 1 and 2 . -
Tracking subsystem 830 may includeposition sensor 832 andcamera converter 834.Tracking subsystem 830 may correspond to the cameratracking system component 6 ofFIG. 3 . TheDRA tracking cameras 870 operate with theposition sensor 832 to determine the pose of DRAs 52. This tracking may be conducted in a manner consistent with the present disclosure including the use of infrared or visible light technology that tracks the location of active or passive elements of DRAs 52, such as LEDs or reflective markers, respectively. - Functional operations of the
tracking subsystem 830 and thecomputer subsystem 820 can be included in thecomputer platform 910, which can be transported by the cameratracking system component 6′ ofFIGS. 3A and 3B . Thetracking subsystem 830 can be configured to determine the poses, e.g., location and angular orientation of the tracked DRAs. Thecomputer platform 910 can also include a navigation controller that is configured to use the determined poses to provide navigation information to users that guides their movement of tracked tools relative to position-registered patient images and/or tracked anatomical structures during a planned surgical procedure. Thecomputer platform 910 can display information on the display ofFIGS. 3B and 3C and/or to one ormore XR headsets 920. Thecomputer platform 910, when used with a surgical robot, can be configured to communicate with thecomputer subsystem 820 and other subsystems ofFIG. 8 to control movement of theend effector 26. For example, as will be explained below thecomputer platform 910 can generate a graphical representation of a patient's anatomical structure, surgical tool, user's hand, etc. with a displayed size, shape, color, and/or pose that is controlled based on the determined pose(s) of one or more the tracked DRAs, and which the graphical representation that is displayed can be dynamically modified to track changes in the determined poses over time. -
Motion control subsystem 840 may be configured to physically movevertical column 16,upper arm 18,lower arm 20, or rotateend effector coupler 22. The physical movement may be conducted through the use of one or more motors 850-854. For example,motor 850 may be configured to vertically lift or lowervertical column 16.Motor 851 may be configured to laterally moveupper arm 18 around a point of engagement withvertical column 16 as shown inFIG. 2 .Motor 852 may be configured to laterally movelower arm 20 around a point of engagement withupper arm 18 as shown inFIG. 2 .Motors end effector coupler 22 to provide translational movement and rotation along in about three-dimensional axes. Thecomputer platform 910 shown inFIG. 9 can provide control input to thecontroller 846 that guides movement of theend effector coupler 22 to position a passive end effector, which is connected thereto, with a planned pose (i.e., location and angular orientation relative to defined 3D orthogonal reference axes) relative to an anatomical structure that is to be operated on during a planned surgical procedure.Motion control subsystem 840 may be configured to measure position of theend effector coupler 22 and/or theend effector 26 using integrated position sensors (e.g. encoders). -
FIG. 9 illustrates a block diagram of components of a surgical system that includes imaging devices (e.g., C-Arm 104, O-Arm 106, etc.) connected to acomputer platform 910 which can be operationally connected to a camera tracking system component 6 (FIG. 3A ) or 6′ (FIGS. 3B,3C ) and/or tosurgical robot 4 according to some embodiments of the present disclosure. Alternatively, at least some operations disclosed herein as being performed by thecomputer platform 910 may additionally or alternatively be performed by components of a surgical system. - Referring to
FIG. 9 , thecomputer platform 910 includes adisplay 912, at least one processor circuit 914 (also referred to as a processor for brevity), at least one memory circuit 916 (also referred to as a memory for brevity) containing computerreadable program code 918, and at least one network interface 902 (also referred to as a network interface for brevity). Thedisplay 912 may be part of anXR headset 920 in accordance with some embodiments of the present disclosure. Thenetwork interface 902 can be configured to connect to a C-Arm imaging device 104 inFIG. 10 , an O-Arm imaging device 106 inFIG. 11 , another medical imaging device, animage database 950 containing patient medical images, components of thesurgical robot 4, and/or other electronic equipment. - When used with a
surgical robot 4, thedisplay 912 may correspond to thedisplay 34 ofFIG. 2 and/or thetablet 890 ofFIG. 8 and/or theXR headset 920 that is operatively connected to thesurgical robot 4, thenetwork interface 902 may correspond to theplatform network interface 812 ofFIG. 8 , and theprocessor 914 may correspond to thecomputer 822 ofFIG. 8 . Thenetwork interface 902 of theXR headset 920 may be configured to communicate through a wired network, e.g., thin wire ethernet, and/or through wireless RF transceiver link according to one or more wireless communication protocols, e.g., WLAN, 3GPP 4G and/or 5G (New Radio) cellular communication standards, etc. - The
processor 914 may include one or more data processing circuits, such as a general purpose and/or special purpose processor, e.g., microprocessor and/or digital signal processor. Theprocessor 914 is configured to execute the computerreadable program code 918 in thememory 916 to perform operations, which may include some or all of the operations described herein as being performed for surgery planning, navigated surgery, and/or robotic surgery. - The
computer platform 910 can be configured to provide surgery planning functionality. Theprocessor 914 can operate to display on thedisplay device 912 and/or on theXR headset 920 an image of an anatomical structure, e.g., vertebra, that is received from one of theimaging devices image database 950 through thenetwork interface 920. Theprocessor 914 receives an operator's definition of where the anatomical structure shown in one or more images is to have a surgical procedure, e.g., screw placement, such as by the operator touch selecting locations on thedisplay 912 for planned procedures or using a mouse-based cursor to define locations for planned procedures. When the image is displayed in theXR headset 920, the XR headset can be configured to sense in gesture-based commands formed by the wearer and/or sense voice based commands spoken by the wearer, which can be used to control selection among menu items and/or control how objects are displayed on theXR headset 920 as will be explained in further detail below. - The
computer platform 910 can be configured to enable anatomy measurement, which can be particularly useful for knee surgery, like measurement of various angles determining center of hip, center of angles, natural landmarks (e.g. transepicondylar line, Whitesides line, posterior condylar line), etc. Some measurements can be automatic while some others can involve human input or assistance. Thecomputer platform 910 may be configured to allow an operator to input a choice of the correct implant for a patient, including choice of size and alignment. Thecomputer platform 910 may be configured to perform automatic or semi-automatic (involving human input) segmentation (image processing) for CT images or other medical images. The surgical plan for a patient may be stored in a cloud-based server, which may correspond todatabase 950, for retrieval by thesurgical robot 4. - During orthopedic surgery, for example, a surgeon may choose which cut to make (e.g. posterior femur, proximal tibia etc.) using a computer screen (e.g. touchscreen) or extended reality (XR) interaction (e.g., hand gesture based commands and/or voice based commands) via, e.g., the
XR headset 920. Thecomputer platform 910 can generate navigation information which provides visual guidance to the surgeon for performing the surgical procedure. When used with thesurgical robot 4, thecomputer platform 910 can provide guidance that allows thesurgical robot 4 to automatically move theend effector 26 to a target pose so that the surgical tool is aligned with a target location to perform the surgical procedure on an anatomical structure. - In some embodiments, the
surgical system 900 can use two DRAs to track patient anatomy position, such as one connected to patient tibia and one connected to patient femur. Thesystem 900 may use standard navigated instruments for the registration and checks (e.g. a pointer similar to the one used in Globus ExcelsiusGPS system for spine surgery). - A particularly challenging task in navigated surgery is how to plan the position of an implant in spine, knee, and other anatomical structures where surgeons struggle to perform the task on a computer screen which is a 2D representation of the 3D anatomical structure. The
system 900 could address this problem by using theXR headset 920 to display a three-dimensional (3D) computer generated representations of the anatomical structure and a candidate implant device. The computer generated representations are scaled and posed relative to each other on the display screen under guidance of thecomputer platform 910 and which can be manipulated by a surgeon while viewed through theXR headset 920. A surgeon may, for example, manipulate the displayed computer-generated representations of the anatomical structure, the implant, a surgical tool, etc., using hand gesture based commands and/or voice based commands that are sensed by theXR headset 920. - For example, a surgeon can view a displayed virtual handle on a virtual implant, and can manipulate (e.g., grab and move) the virtual handle to move the virtual implant to a desired pose and adjust a planned implant placement relative to a graphical representation of an anatomical structure. Afterward, during surgery, the
computer platform 910 could display navigation information through theXR headset 920 that facilitates the surgeon's ability to more accurately follow the surgical plan to insert the implant and/or to perform another surgical procedure on the anatomical structure. When the surgical procedure involves bone removal, the progress of bone removal, e.g., depth of cut, can be displayed in real-time through theXR headset 920. Other features that may be displayed through theXR headset 920 can include, without limitation, gap or ligament balance along a range of joint motion, contact line on the implant along the range of joint motion, ligament tension and/or laxity through color or other graphical renderings, etc. - The
computer platform 910, in some embodiments, can allow planning for use of standard surgical tools and/or implants, e.g., posterior stabilized implants and cruciate retaining implants, cemented and cementless implants, revision systems for surgeries related to, for example, total or partial knee and/or hip replacement and/or trauma. - An automated imaging system can be used in conjunction with the
computer platform 910 to acquire pre-operative, intra-operative, post-operative, and/or real-time image data of an anatomical structure. Example automated imaging systems are illustrated inFIGS. 10 and 11 . In some embodiments, the automated imaging system is a C-arm 104 (FIG. 10 ) imaging device or an O-arm® 106 (FIG. 11 ). (O-arm® is copyrighted by Medtronic Navigation, Inc. having a place of business in Louisville, Colo., USA). It may be desirable to take x-rays of a patient from a number of different positions, without the need for frequent manual repositioning of the patient which may be required in an x-ray system. C-arm 104 x-ray diagnostic equipment may solve the problems of frequent manual repositioning and may be well known in the medical art of surgical and other interventional procedures. As illustrated inFIG. 10 , a C-arm includes an elongated C-shaped member terminating in opposing distal ends 112 of the “C” shape. C-shaped member is attached to anx-ray source 114 and animage receptor 116. The space within C-arm 104 of the arm provides room for the physician to attend to the patient substantially free of interference from the x-ray support structure. - The C-arm is mounted to enable rotational movement of the arm in two degrees of freedom, (i.e. about two perpendicular axes in a spherical motion). C-arm is slidably mounted to an x-ray support structure, which allows orbiting rotational movement of the C-arm about its center of curvature, which may permit selective orientation of
x-ray source 114 andimage receptor 116 vertically and/or horizontally. The C-arm may also be laterally rotatable, (i.e. in a perpendicular direction relative to the orbiting direction to enable selectively adjustable positioning ofx-ray source 114 andimage receptor 116 relative to both the width and length of the patient). Spherically rotational aspects of the C-arm apparatus allow physicians to take x-rays of the patient at an optimal angle as determined with respect to the particular anatomical condition being imaged. - The O-
arm® 106 illustrated inFIG. 11 includes agantry housing 124 which may enclose an image capturing portion, not illustrated. The image capturing portion includes an x-ray source and/or emission portion and an x-ray receiving and/or image receiving portion, which may be disposed about one hundred and eighty degrees from each other and mounted on a rotor (not illustrated) relative to a track of the image capturing portion. The image capturing portion may be operable to rotate three hundred and sixty degrees during image acquisition. The image capturing portion may rotate around a central point and/or axis, allowing image data of the patient to be acquired from multiple directions or in multiple planes. - The O-
arm® 106 with thegantry housing 124 has a central opening for positioning around an object to be imaged, a source of radiation that is rotatable around the interior ofgantry housing 124, which may be adapted to project radiation from a plurality of different projection angles. A detector system is adapted to detect the radiation at each projection angle to acquire object images from multiple projection planes in a quasi-simultaneous manner. The gantry may be attached to a support structure O-arm® support structure, such as a wheeled mobile cart with wheels, in a cantilevered fashion. A positioning unit translates and/or tilts the gantry to a planned position and orientation, preferably under control of a computerized motion control system. The gantry may include a source and detector disposed opposite one another on the gantry. The source and detector may be secured to a motorized rotor, which may rotate the source and detector around the interior of the gantry in coordination with one another. The source may be pulsed at multiple positions and orientations over a partial and/or full three hundred and sixty degree rotation for multi-planar imaging of a targeted object located inside the gantry. The gantry may further comprise a rail and bearing system for guiding the rotor as it rotates, which may carry the source and detector. Both and/or either O-arm® 106 and C-arm 104 may be used as automated imaging system to scan a patient and send information to the surgical system 2. - Images captured by an imaging system can be displayed on the
XR headset 920 and/or another display device of thecomputer platform 910, thesurgical robot 4, and/or another component of thesurgical system 900. TheXR headset 920 may be connected to one or more of theimaging devices 104 and/or 106 and/or to theimage database 950, e.g., via thecomputer platform 910, to display images therefrom. A user may provide control inputs through theXR headset 920, e.g., gesture and/or voice based commands, to control operation of one or more of theimaging devices 104 and/or 106 and/or theimage database 950. -
FIG. 12 illustrates a block diagram view of the components of a surgical system that include a pair ofXR headsets 1200 and 1210 (head-mounted displays HMD1 and HMD2), which may correspond to theXR headset 920 shown inFIG. 13 and operate in accordance with some embodiments of the present disclosure. - Referring to the example scenario of
FIG. 12 , theassistant 612 andsurgeon 610 are both wearing theXR headsets XR headset 1210. TheXR headsets tech personnel 614 to be present in the operating room and may eliminate a need for use of thedisplay 34 shown inFIG. 6 . EachXR headset end effector 26, and/or other equipment. In the example ofFIG. 12 ,XR headset 1200 has a field-of-view (FOV) 1202 for tracking DRAs and other objects,XR headset 1210 has aFOV 1212 partially overlappingFOV 1202 for tracking DRAs and other objects, and thetracking cameras 46 has anotherFOV 600 partially overlappingFOVs - If one or more cameras is obstructed from viewing a DRA attached to a tracked object, e.g., a surgical instrument, but the DRA is in view of one or more other cameras the
tracking subsystem 830 and/ornavigation controller 828 can continue to track the object seamlessly without loss of navigation. Additionally, if there is partial occlusion of the DRA from the perspective of one camera, but the entire DRA is visible via multiple camera sources, the tracking inputs of the cameras can be merged to continue navigation of the DRA. One of the XR headsets and/or thetracking cameras 46 may view and track the DRA on another one of the XR headsets to enable the computer platform 910 (FIGS. 9 and 14 ), thetracking subsystem 830, and/or another computing component to determine the pose of the DRA relative to one or more defined coordinate systems, e.g., of theXR headsets 1200/1210, the trackingcameras 46, and/or another coordinate system defined for the patient, table, and/or room. - The
XR headsets -
FIG. 13 illustrates anXR headset 920 which is configured in accordance with some embodiments of the present disclosure. The XR headset includes aheadband 1306 configured to secure the XR headset to a wearer's head, anelectronic component enclosure 1304 supported by theheadband 1306, and adisplay screen 1302 that extends laterally across and downward from theelectronic component enclosure 1304. Thedisplay screen 1302 may be a see-through LCD display device or a semi-reflective lens that reflects images projected by a display device toward the wearer's eyes. A set of DRA fiducials, e.g., dots are painted or attached in a spaced apart known arranged on one or both sides of the headset. The DRA on the headset enables the tracking cameras on the auxiliary tracking bar to track pose of theheadset 920 and/or enables another XR headset to track pose of theheadset 920. - The
display screen 1302 operates as a see-through display screen, also referred to as a combiner, that reflects light from display panels of a display device toward the user's eyes. The display panels can be located between the electronic component enclosure and the user's head, and angled to project virtual content toward thedisplay screen 1302 for reflection toward the user's eyes. Thedisplay screen 1302 is semi-transparent and semi-reflective allowing the user to see reflected virtual content superimposed on the user's view of a real-world scene. Thedisplay screen 1302 may have different opacity regions, such as the illustrated upper laterally band which has a higher opacity than the lower laterally band. Opacity of thedisplay screen 1302 may be electronically controlled to regulate how much light from the real-world scene passes through to the user's eyes. A high opacity configuration of thedisplay screen 1302 results in high-contrast virtual images overlaid on a dim view of the real-world scene. A low opacity configuration of thedisplay screen 1302 can result in more faint virtual images overlaid on a clearer view of the real-world scene. The opacity may be controlled by applying an opaque material on a surface of thedisplay screen 1302. - According to some embodiments the surgical system includes an
XR headset 920 and an XR headset controller, e.g.,controller 1430 inFIG. 14 or controller 3410 inFIG. 34 . TheXR headset 920 is configured to be worn by a user during a surgical procedure and has a see-throughdisplay screen 1302 that is configured to display an XR image and to allow at least a portion of a real-world scene to pass therethrough for viewing by the user. TheXR headset 920 also includes an opacity filter positioned between at least one of the user's eyes and the real-world scene when the see-throughdisplay screen 1302 is viewed by the user. The opacity filter is configured to provide opaqueness to light from the real-world scene. The XR headset controller is configured to communicate with a navigation controller, e.g., controller(s) 828A, 828B, and/or 828C inFIG. 14 , to receive navigation information from the navigation controller which provides guidance to the user during the surgical procedure on an anatomical structure, and is further configured to generate the XR image based on the navigation information for display on the see-throughdisplay screen 1302. - Opacity of the
display screen 1302 may be configured as a gradient having a more continuously changing opacity with distance downward from a top portion of thedisplay screen 1302. The gradient's darkest point can be located at the top portion of thedisplay screen 1302, and gradually becoming less opaque further down on thedisplay screen 1302 until the opacity is transparent or not present. In an example further embodiment, the gradient can change from about 90% opacity to entirely transparent approximately at the mid-eye level of thedisplay screen 1302. With the headset properly calibrated and positioned, the mid-eye level can correspond to the point where the user would look straight out, and the end of the gradient would be located at the “horizon” line of the eye. The darker portion of the gradient will allow crisp, clear visuals of the virtual content and help to block the intrusive brightness of the overhead operating room lights. - Using an opacity filter in this manner enables the
XR headset 920 to provide virtual reality (VR) capabilities, by substantially or entirely blocking light from the real-world scene, along an upper portion of thedisplay screen 1302 and to provide AR capabilities along a middle or lower portion of thedisplay screen 1302. This allows the user to have the semi-translucence of AR where needed and allowing clear optics of the patient anatomy during procedures. Configuring thedisplay screen 1302 as a gradient instead of as a more constant opacity band can enable the wearer to experience a more natural transition between a more VR type view to a more AR type view without experiencing abrupt changes in brightness of the real-world scene and depth of view that may otherwise strain the eyes such as during more rapid shifting between upward and downward views. - The display panels and
display screen 1302 can be configured to provide a wide field of view see-through XR display system. In one example configuration they provide an 80° diagonal field-of-view (FOV) with 55° of vertical coverage for a user to view virtual content. Other diagonal FOV angles and vertical coverage angles can be provided through different size display panels, different curvature lens, and/or different distances and angular orientations between the display panels andcurved display screen 1302. -
FIG. 14 illustrates electrical components of theXR headset 920 that can be operatively connected to thecomputer platform 910, to one or more of the imaging devices, such as the C-arm imaging device 104, the O-arm imaging device 106, and/or theimage database 950, and/or to the surgical robot 800 in accordance with various embodiments of the present disclosure. - The
XR headset 920 provides an improved human interface for performing navigated surgical procedures. TheXR headset 920 can be configured to provide functionalities, e.g., via thecomputer platform 910, that include without limitation any one or more of: identification of hand gesture based commands and/or voice based commands, display XR graphical objects on adisplay device 1450. Thedisplay device 1450 may a video projector, flat panel display, etc., which projects the displayed XR graphical objects on thedisplay screen 1302. The user can view the XR graphical objects as an overlay anchored to particular real-world objects viewed through the display screen 1302 (FIG. 13 ). TheXR headset 920 may additionally or alternatively be configured to display on thedisplay screen 1450 video feeds from cameras mounted to one ormore XR headsets 920 and other cameras. - Electrical components of the
XR headset 920 can include a plurality ofcameras 1440, amicrophone 1442, agesture sensor 1444, a pose sensor (e.g., inertial measurement unit (IMU)) 1446, adisplay module 1448 containing thedisplay device 1450, and a wireless/wired communication interface 1452. As will be explained below, thecameras 1440 of the XR headset may be visible light capturing cameras, near infrared capturing cameras, or a combination of both. - The
cameras 1440 may be configured operate as thegesture sensor 1444 by capturing for identification user hand gestures performed within the field of view of the camera(s) 1440. Alternatively thegesture sensor 1444 may be a proximity sensor and/or a touch sensor that senses hand gestures performed proximately to thegesture sensor 1444 and/or senses physical contact, e.g. tapping on the sensor or theenclosure 1304. Thepose sensor 1446, e.g., IMU, may include a multi-axis accelerometer, a tilt sensor, and/or another sensor that can sense rotation and/or acceleration of theXR headset 920 along one or more defined coordinate axes. Some or all of these electrical components may be contained in thecomponent enclosure 1304 or may be contained in another enclosure configured to be worn elsewhere, such as on the hip or shoulder. - As explained above, the surgical system 2 includes a camera
tracking system component 6/6′ and atracking subsystem 830 which may be part of thecomputer platform 910. The surgical system may include imaging devices (e.g., C-arm 104, O-arm 106, and/or image database 950) and/or asurgical robot 4. Thetracking subsystem 830 is configured to determine a pose of DRAs attached to an anatomical structure, an end effector, a surgical tool, etc. Anavigation controller 828 is configured to determine a target pose for the surgical tool relative to an anatomical structure based on a surgical plan, e.g., from a surgical planning function performed by thecomputer platform 910 ofFIG. 9 , defining where a surgical procedure is to be performed using the surgical tool on the anatomical structure and based on a pose of the anatomical structure determined by thetracking subsystem 830. Thenavigation controller 828 may be further configured to generate 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, where the steering information indicates where the surgical tool and/or the end effector of a surgical robot should be moved to perform the surgical plan. - The electrical components of the
XR headset 920 can be operatively connected to the electrical components of thecomputer platform 910 through a wired/wireless interface 1452. The electrical components of theXR headset 920 may be operatively connected, e.g., through thecomputer platform 910 or directly connected, to various imaging devices, e.g., the C-arm imaging device 104, the I/O-arm imaging device 106, theimage database 950, and/or to other medical equipment through the wired/wireless interface 1452. - The surgical system 2 further includes at least one XR headset controller 1430 (also referred to as “XR headset controller” for brevity) that may reside in the
XR headset 920, thecomputer platform 910, and/or in another system component connected via wired cables and/or wireless communication links. Various functionality is provided by software executed by theXR headset controller 1430. TheXR headset controller 1430 is configured to receive navigation information from thenavigation controller 828 which provides guidance to the user during the surgical procedure on an anatomical structure, and is configured to generate an XR image based on the navigation information for display on thedisplay device 1450 for projection on the see-throughdisplay screen 1302. - The configuration of the
display device 1450 relative to the display screen (also referred to as “see-through display screen”) 1302 is configured to display XR images in a manner such that when the user wearing theXR headset 920 looks through thedisplay screen 1302 the XR images appear to be in the real world. Thedisplay screen 1302 can be positioned by theheadband 1306 in front of the user's eyes. - The
XR headset controller 1430 can be within a housing that is configured to be worn on a user's head or elsewhere on the user's body while viewing thedisplay screen 1302 or may be remotely located from the user viewing thedisplay screen 1302 while being communicatively connected to thedisplay screen 1302. TheXR headset controller 1430 can be configured to operationally process signaling from thecameras 1440, the microphone 142, and/or thepose sensor 1446, and is connected to display XR images on thedisplay device 1450 for user viewing on thedisplay screen 1302. Thus, theXR headset controller 1430 illustrated as a circuit block within theXR headset 920 is to be understood as being operationally connected to other illustrated components of theXR headset 920 but not necessarily residing within a common housing (e.g., theelectronic component enclosure 1304 ofFIG. 13 ) or being otherwise transportable by the user. For example, theXR headset controller 1430 may reside within thecomputer platform 910 which, in turn, may reside within a housing of the computertracking system component 6′ shown inFIGS. 3B and 3C . -
FIG. 34 illustrates a block diagram showing arrange of optical components of theXR headset 920 in accordance with some embodiments of the present disclosure. Referring toFIG. 34 , thedisplay device 1450 is configured to display XR images generated by theXR headset controller 1430, light from which is projected asXR images 1450 toward thedisplay screen 1302. Thedisplay screen 1302 is configured to combine light of theXR images 1450 and light from the real-world scene 1502 into a combinedaugmented view 1504 that is directed to the user's eye(s) 1510. Thedisplay screen 1302 configured in this manner operates as a see-through display screen. TheXR headset 920 can include any plural number oftracking cameras 1440. Thecameras 1440 may be visible light capturing cameras, near infrared capturing cameras, or a combination of both. - The XR headset operations can display both 2D images and 3D models on the
display screen 1302. The 2D images may preferably be displayed in a more opaque band of the display screen 1302 (upper band) and the 3D model may be more preferably displayed in the more transparent band of thedisplay screen 1302, otherwise known as the environmental region (bottom band). Below the lower band where thedisplay screen 1302 ends the wearer has an unobstructed view of the surgical room. It is noted that where XR content is display on thedisplay screen 1302 may be fluidic. It is possible that where the 3D content is displayed moves to the opaque band depending on the position of the headset relative to the content, and where 2D content is displayed can be placed in the transparent band and stabilized to the real world. Additionally, theentire display screen 1302 may be darkened under electronic control to convert the headset into virtual reality for surgical planning or completely transparent during the medical procedure. As explained above, theXR headset 920 and associated operations not only support navigated procedures, but also can be performed in conjunction with robotically assisted procedures. -
FIG. 16 illustrates an example view through thedisplay screen 1302 of theXR headset 920 for providing navigation assistance to a user who is manipulating asurgical tool 1602 during a medical procedure in accordance with some embodiments of the present disclosure. Referring toFIG. 16 , when thesurgical tool 1602 is brought in vicinity of a tracked anatomical structure so thatdynamic reference arrays surgical tool 1602, become within the field of view of the cameras 1440 (FIG. 15 ) and/or 46 (FIG. 6 ), agraphical representation 1600 of the tool can be displayed in 2D and/or 3D images in relation to agraphical representation 1610 of the anatomical structure. The user can use the viewed graphical representations to adjust atrajectory 1620 of thesurgical tool 1602, which can be illustrated as extending from thegraphical representation 2000 of the tool through thegraphical representation 1610 of the anatomical structure. TheXR headset 920 may also display textual information andother objects 1640. The dashedline 1650 extending across the viewed display screen represents an example division between different opacity level upper and lower bands. - Other types of XR images (virtual content) that can be displayed on the
display screen 1302 can include, but are not limited to any one or more of: -
- I) 2D Axial, Sagittal and/or Coronal views of patient anatomy;
- 2) overlay of planned vs currently tracked tool and surgical implant locations;
- 3) gallery of preoperative images;
- 4) video feeds from microscopes and other similar systems or remote video conferencing;
- 5) options and configuration settings and buttons;
- 6) floating 3D models of patient anatomy with surgical planning information;
- 7) real-time tracking of surgical instruments relative to floating patient anatomy;
- 8) augmented overlay of patient anatomy with instructions and guidance; and
- 9) augmented overlay of surgical equipment.
-
FIG. 17 illustrates example configuration of anauxiliary tracking bar 46 having two pairs of stereo tracking cameras configured in accordance with some embodiments of the present disclosure. Theauxiliary tracking bar 46 is part of the camera tracking system component ofFIGS. 3A, 3B, and 3C . The stereo tracking cameras include a stereo pair of spaced apart visible light capturing cameras and another stereo pair of spaced apart near infrared capturing cameras, in accordance with one embodiment. Alternatively, only one stereo pair of visible light capturing cameras or only one stereo pair of near infrared capture cameras can used in theauxiliary tracking bar 46. Any plural number of near infrared and/or visible light cameras can be used. - As explained above, navigated surgery can include computer vision tracking and determination of pose (e.g., position and orientation in a six degree-of-freedom coordinate system) of surgical instruments, such as by determining pose of attached DRAs that include spaced apart fiducials, e.g., disks or spheres, arranged in a known manner. The computer vision uses spaced apart tracking cameras, e.g., stereo cameras, that are configured to capture near infrared and/or visible light. In this scenario, there are three parameters jointly competing for optimization: (1) accuracy, (2) robustness, and (3) user ergonomics during a surgical procedure.
- Some further aspects of the present disclosure are directed to computer operations that combine (chain) measured poses in ways that can improve optimization of one or more of the above three parameters by incorporating additional tracking cameras mounted to one or more XR headsets. As shown in
FIG. 17 , a stereo pair of visible light tracking cameras and another stereo pair of near infrared tracking cameras can be attached to the auxiliary tracking bar of the camera tracking system component in accordance with some embodiments of the present disclosure. Operational algorithms are disclosed that analyze the pose of DRAs that are fully observed or partially observed (e.g., when less than all of the fiducials of a DRA are viewed by a pair of stereo cameras), and combine the observed poses or partial poses in ways that can improve accuracy, robustness, and/or ergonomics during navigated surgery. - As explained above, the XR headset may be configured to augment a real-world scene with computer generated XR images. The XR headset may be configured to provide an XR viewing environment by displaying the computer generated XR images on a see-through display screen that allows light from the real-world scene to pass therethrough for combined viewing by the user. Alternatively, the XR headset may be configured to provide a VR viewing environment by preventing or substantially preventing light from the real-world scene from being directly viewed by the user along the viewing path of the displayed XR images. An XR headset can be configured to provide both AR and VR viewing environments. In one embodiment, both AR and VR viewing environments are provided by lateral bands of substantially differing opacity arranged between the see-through display screen and the real-world scene, so that a VR viewing environment is provided for XR images aligned with a high opacity band and an AR viewing environment is provided for XR images aligned with the low opacity band. In another embodiment, both AR and VR viewing environments are provided by computer adjustable control of an opacity filter that variably constrains how much light from the real-world scene passes through a see-through display screen for combining with the XR images viewed by the user. Thus, the XR headset can also be referred to as an AR headset or a VR headset.
- As was also explained above, the XR headset can include near infrared tracking cameras and/or visible light tracking cameras that are configured to track fiducials of DRAs connected to surgical instruments, patient anatomy, other XR headset(s), and/or a robotic end effector. Using near infrared tracking and/or visible light tracking on the XR headset provides additional tracking volume coverage beyond what cameras on a single auxiliary tracking bar can provide. Adding near infrared tracking cameras to the existing auxiliary tracking bar allows for the headset location to be tracked more robustly but less accurately than in visible light. Mechanically calibrating the visible and near infrared tracking coordinate systems enables the coordinate systems to be aligned sufficiently to perform 3D DRA fiducials triangulation operations using stereo matching to jointly identify pose of the DRA fiducials between the visible and near infrared tracking coordinate systems. Using both visible and near infrared tracking coordinate systems can enable any one or more of: (a) identifying tools that would not be identified using a single coordinate system; (b) increased pose tracking accuracy; (c) enabling a wider range of motion without losing tracking of surgical instruments, patient anatomy, and/or a robotic end effector; and (d) naturally track an XR headset in the same coordinate system as the navigated surgical instruments.
-
FIG. 18 illustrates a block diagram view of the components of a surgical system that include tracking cameras in a pair ofXR headsets 1200 and 1210 (head-mounted displays HMD1 and HMD2) and tracking cameras in a camera tracking bar in the cameratracking system component 6′ which houses thecomputer platform 910. Thecomputer platform 910 can include thetracking subsystem 830, thenavigation controller 828, and theXR headset controller 1430 as was earlier shown inFIG. 14 . - Referring to the surgical system of
FIG. 18 , a surgeon and an assistant are both wearingXR headsets HMD1 1200 andHMD2 1210, respectively, each if which includes tracking cameras that may be configured as shown inFIG. 13 . It is optional for the assistant to wear theXR headset HMD2 1210. - The combination of
XR headsets HMD1 1200 andHMD2 1210 and thetracking cameras 46 on the auxiliary tracking bar can, in operation with thecomputer platform 910, more robustly track the example objects of a patient reference array (R), robotic end effector (E), and surgical tool (T) or instrument. The overlapping views from different perspectives that are provided by theXR headsets HMD1 1200 andHMD2 1210 and thetracking cameras 46 on the auxiliary tracking bar are shown inFIG. 12 . - Each of the items labeled in
FIG. 18 represent a unique coordinate system. Descriptions of the coordinate system labels are as follows: -
- A=visible light coordinate system of
second headset HMD2 1210; - N3=NIR coordinate system of
second headset HMD2 1210; - S=visible light coordinate system of
primary headset HMD1 1200; - N2=NIR coordinate system of the
primary headset HMD1 1200; - N=NIR coordinate system of the
auxiliary navigation bar 46; - V=visible light coordinate system of the
auxiliary navigation bar 46; - R=NIR coordinate system of a patient reference
fiducial array 602; - T=NIR coordinate system of a tracked
tool 604; - E=NIR coordinate system of a tracked robot end effector on
robotic arm 20; and - W=Inertially navigated world coordinate system with stable gravity vector.
- A=visible light coordinate system of
- The spatial relationships of some of these labeled objects (and by extension, coordinate systems) can be measured and calibrated during the manufacturing process, when the equipment is installed in an operating room, and/or before a surgical procedure is to be performed. In the disclosed system, the following coordinate systems are calibrated: TN2 S; TN3 A; TN V, where the term “T” is defined as a six degree-of-freedom (6 DOF) homogeneous transformation between the two indicated coordinates systems. Thus, for example, the term TN2 S is a 6 DOF homogeneous transformation between the visible light coordinate system of the
primary headset HMD1 1200 and the NIR coordinate system of theprimary headset HMD1 1200. - In one embodiment, the
XR headsets HMD1 1200 andHMD2 1210 have passive visible light markers painted or otherwise attached to them (coordinate systems S and A), such as the DRA fiducials 1310 shown inFIG. 13 . The tracking cameras are spatially calibrated to these passive fiducials (coordinate systems N2 and N3). - As explained above, the cameras on the
XR headset HMD1 1200 andHMD2 1210 and thetracking cameras 46 on the auxiliary tracking bar have partially overlapping field of views. If one or more of the cameras on theXR headset HMD1 1200 are obstructed from viewing a DRA attached to a tracked object, e.g., a tracked tool (T), but the DRA is in view of the cameras of the otherXR headset HMD2 1210 and/or thetracking cameras 46 on the auxiliary tracking bar, thecomputer platform 910 can continue to track the DRA seamlessly without loss of navigation. Additionally, if there is partial occlusion of the DRA from the perspective of the cameras on theXR headset HMD1 1200, but the entire DRA is visible via cameras of the otherXR headset HMD2 1210 and/or thetracking cameras 46 on the auxiliary tracking bar, the tracking inputs of the cameras can be merged to continue navigation of the DRA. - More particularly, the various coordinate systems can be chained together by virtue of independent observations the various camera systems provided by the
XR headsets HMD1 1200 andHMD2 1210 and thetracking cameras 46 on the auxiliary tracking bar. For example, each of theXR headsets HMD1 1200 andHMD2 1210 may require virtual augmentation of the robotic end effector (E). While one XR headset HMD1 1200 (N2) and thetracking cameras 46 on the auxiliary tracking bar (N) are able to see (E), perhaps the other XR headset HMD2 1210 (N3) cannot. The location of (E) with respect to (N3) can still be computed via one of several different operational methods. Operations according to one embodiment performing chaining of poses from a patient reference (R). If the patient reference (R) is seen by (N3) and either one of (N) or (N2), the pose of (E) with respect to (N3) can be solved directly by either one of the following two equations: -
TN3 E=TN2 ETR N2TN3 R -or- TN3 E=TN ETR NTN3 R - They key to this pose chaining is that the relationship between the frames at the end of each chain are inferred (circled and transported below). The chains can be arbitrarily long and are enabled by having more than one stereo camera system (e.g., N, N2, N3).
- The camera tracking system can be configured to receive tracking information related to tracked objects from a first tracking camera (e.g., N3) and a second tracking camera (e.g., N2) during a surgical procedure. The camera tracking system can determine a first pose transform (e. g., TN3 R) between a first object (e.g., R) coordinate system and the first tracking camera (e.g., N3) coordinate system based on first object tracking information from the first tracking camera (e.g., N3) which indicates pose of the first object (e.g., R). The camera tracking system can determine a second pose transform (e.g., TR N2) between the first object (e.g., R) coordinate system and the second tracking camera (e.g., N2) coordinate system based on first object tracking information from the second tracking camera (e.g., N2) which indicates pose of the first object (e.g., R). The camera tracking system can determine a third pose transform (e.g., TN2 E) between a second object (e.g., E) coordinate system and the second tracking camera (e.g., N2) coordinate system based on second object tracking information from the second tracking camera (e.g., N2) which indicates pose of the second object (e.g., E). The camera tracking system can determine a fourth pose transform (e.g., TN3 E) between the second object (e.g., E) coordinate system and the first tracking camera (e.g., N3) coordinate system based on combining the first, second, and third pose transforms.
- In some further embodiments, the camera system can further determine pose of the second object (e.g., E) and the first tracking camera system (e.g., N3) coordinate system based on processing the tracking information through the fourth pose transform.
- Because of the overlapping field of views of the various camera systems, the camera tracking system is capable of determining the pose of the second object (e.g., E) relative to first tracking camera (e.g., N3) when the first camera is blocked from seeing the second object (e.g., E). For example, in some embodiments the camera tracking system is further configured to determine the fourth pose transform (e.g., TN3 E) between the second object (e.g., E) coordinate system and the first tracking camera (e.g., N3) coordinate system without use of any tracking information from the first tracking camera (e.g., N3) indicating pose of the second object (e.g., E).
- The camera tracking system can be further configured to determine pose of the second object (e.g., E) in the first tracking camera (e.g., N3) coordinate system based on processing through the fourth pose transform the tracking information from the first tracking camera (e.g., N3) which indicates pose of the first object (e.g., R), based on processing through the fourth pose transform (e.g., TN3 E) the tracking information from the second tracking camera (e.g., N2) which indicates pose of the first object (e.g., R), and based on processing through the fourth pose transform the tracking information from the second tracking camera (e.g., N2) which indicates pose of the second object (e.g., E).
- In accordance with various further embodiments of the disclosure, an XR headset includes stereo tracking cameras used for inside-out tracking. The stereo tracking cameras are used to track the user's eyes and calibrate the headset to the eyes' (e.g., pupils') positions if there are two users facing each other or if a reflective surface is present.
- Eye tracking systems normally use one to two inward facing cameras per eye to track where the eyes of a user wearing an XR headset are located and where the eyes are looking. In some embodiments, the eyes are tracked by their shape directly in visible light.
-
FIG. 19 illustrates an embodiment in which two users wearing XR headsets are facing each other and the camera tracking system uses the stereo tracking cameras on each XR headset to track the other user's eyes. -
FIG. 22 illustrates a flow chart of operations performed by a camera tracking system for calibrating eye-to-XR headset displays and responsively controlling where symbols are displayed on XR headsets in accordance with some embodiments. - Referring to
FIGS. 19 and 22 , a camera tracking system operatively determines 2200 a first pose of a second extended-reality (XR)headset 1910 relative tostereo tracking cameras 1902 located on afirst XR headset 1900 based on first tracking information from thestereo tracking cameras 1902. The camera tracking system determines 2202 a second pose of eyes of auser 1920 wearing thesecond XR headset 1910 relative to thestereo tracking cameras 1902 located on thefirst XR headset 1900 based on second tracking information from thestereo tracking cameras 1902. The camera tracking system also calibrates 2206 an eye-to-display relationship defining pose of theeyes 1914 of theuser 1920 wearing thesecond XR headset 1910 to a display device of thesecond XR headset 1910 based on the determined first and second poses. The camera tracking system also controls 2208 where symbols are displayed on the display device of thesecond XR headset 1910 based on the eye-to-display relationship. This XR headset embodiment allows thetracking cameras 1902 on thefirst XR headset 1900 to track the pose of thesecond XR headset 1910 and theeyes 1914 of theuser 1920 directly. -
FIG. 24 illustrates a flow chart of operations performed by the camera tracking system for calibrating eye-to-XR headset displays of the other user (e.g. the user wearing the first XR headset) and responsively controlling where symbols are displayed on XR headsets in accordance with some embodiments. - Referring to
FIG. 24 , in a similar manner, thestereo tracking cameras 1912 on thesecond XR headset 1910 can be used to calibrate the eye-to-display relationship between theeyes 1904 of theuser 1930 wearing thefirst XR headset 1900. More particularly, the camera tracking system operatively determines 2400 a third pose of afirst XR headset 1900 relative to thestereo tracking cameras 1912 located on thesecond XR headset 1910 based on third tracking information from thestereo tracking cameras 1912. The camera tracking system determines 2402 a fourth pose ofeyes 1904 of theuser 1930 wearing thefirst XR headset 1900 relative to thestereo tracking cameras 1912 located on thesecond XR headset 1910 based on fourth tracking information from thestereo tracking cameras 1912. The camera tracking system also calibrates 2404 an eye-to-display relationship defining pose of theeyes 1904 of theuser 1930 wearing thefirst XR headset 1900 to a display device of thefirst XR headset 1900 based on the determined third and fourth poses. The camera tracking system also controls 2206 where symbols are displayed on the display device of thefirst XR headset 1900 based on the eye-to-display relationship. This XR headset embodiment allows thetracking cameras 1912 on thesecond XR headset 1910 to track the pose of thefirst XR headset 1900 and theeyes 1904 of theuser 1930 directly. - Some other embodiments include tracking markers located on the XR headset in order to improve robustness of headset pose estimation. In some embodiments, the first tracking information from the
stereo tracking cameras 1902 on thefirst XR headset 1900 tracks a reference array on thesecond XR headset 1910. The second tracking information from thestereo tracking cameras 1902 tracks theeyes 1914 of the user wearing thesecond XR headset 1910. The XR headset-to-display transform relates the pose of the reference array on thesecond XR headset 1910 and the pose of the display device of thesecond XR headset 1910. - In some other embodiments, the determination of the first pose of the
second XR headset 1910 relative to the stereo tracking cameras located on thefirst XR headset 1900, includes to determine first offset distances between thestereo tracking cameras 1902 located on thefirst XR headset 1900 and thesecond XR headset 1910. The determination of the second pose of theeyes 1914 of theuser 1920 wearing thesecond XR headset 1910 relative to thestereo tracking cameras 1902 located on thefirst XR headset 1900, includes to determine second offset distances between thestereo tracking cameras 1902 located on thefirst XR headset 1900 and theeyes 1914 of theuser 1920. The calibration of the eye-to-display relationship defining pose of theeyes 1914 of theuser 1920 wearing thesecond XR headset 1910 to the display device of thesecond XR headset 1910, includes to determine third offset distances between theeyes 1914 of theuser 1920 and the display device of thesecond XR headset 1910 based on the first and second offset distances. - Continuous tracking of the
eyes 1914 of theuser 1920 may thereby be achieved when there are twousers headsets stereo tracking cameras 1902 will be able to track the other headset's pose as well as the other user'seyes 1914 relative to the headset being worn (while the two users are facing each other). One example of where this would happen regularly is in a surgery. A surgeon and a surgical assistant normally stand across the table from each other and face each other. If both are wearing headsets, the camera tracking system would be able to repetitively or continuously track the both person's headset and eyes. - In some embodiments, the determination of the second pose and the calibration of the eye-to-display relationship are performed responsive to detection of the
eyes 1914 of theuser 1920 wearing thesecond XR headset 1910 when imaged in video frames from thestereo tracking cameras 1902 located on thefirst XR headset 1900. - Accuracy of the pose determination from dynamic head tracking can be improved by time synchronizing the video streams between the
stereo tracking cameras respective XR headsets camera tracking system 910 can perform time synchronization of the video streams in several different embodiments. In one embodiment, each XR headset provides a synchronization signal which is used by thecamera tracking system 910 to synchronize the video streams for purposes of object tracking. The synchronization signal may be transmitted through a wired or wireless connection with the video frames. Thecamera tracking system 910 may use the synchronization signals to estimate the time offset between thestereo tracking cameras respective XR headsets XR headsets camera tracking system 910 can determine time offset between thestereo tracking cameras XR headsets camera tracking system 910 can time align the video streams from the respectivestereo tracking cameras -
FIG. 20 illustrates an embodiment of oneuser 2010 wearing anXR headset 2000 who'seyes 2004 are tracking using reflections from areflective surface 2020 that are imaged in video frames from thestereo tracking cameras 2002, in accordance with some embodiments of the present disclosure. Referring toFIG. 20 , when theXR headset 2000 has outward facingstereo tracking cameras 2002 and trackable headset shape/form and is faced toward areflective surface 2020, thestereo tracking cameras 2002 can then image the user'seyes 2004 as well as the headset's apparent shape (i.e. pose). An outside-in tracking setup such as this allows thecameras 2002 to determine how far away theuser 2010 is from thereflective surface 2020 and how far the user'seyes 2004 are from thecameras 2002 and theheadset 2000 itself. This set up also enables thecamera tracking system 910 to estimate the eyes (e.g., pupils) poses in space relative to theheadset 2000. With this information, the system will be able to render content with less warping and theuser 2010 may need to spend less time adjusting theheadset 2000 to avoid sharpness degradation in displayed objects and/or degradation in alignment accuracy between where displayed objects are overlaid on tracked real-world objects. These operations enable thecamera tracking system 910 to compensate for when theheadset 2000 shifts on the user's head, but in the case of using imaging from thereflectively surface 2020, only while the user is looking at thereflective surface 2020. - In some embodiments, the
second XR headset 2000 is a reflected image from areflective surface 2020 of thefirst XR headset 2000 imaged in video frames from thestereo tracking cameras 2002 located on thefirst XR headset 2000. - These above embodiments allow for eye tracking without the need of an additional tracking system if the headset has an inside-out tracking system and can see a reflective surface which reflects images of the headset and the user's eyes or can see another headset and the eyes of the user wearing the other headset.
-
FIG. 21 illustrates an embodiment of tracking coordinate systems for twoXR headsets - Referring to
FIG. 22 , in some embodiments, the camera tracking system is further configured to operatively obtain 2204 an XR headset-to-display transform between a pose of the second XR headset and a pose of the display device of the second XR headset. The determination of the second pose of the eyes of the user wearing the second XR headset relative to the stereo tracking cameras located on the first XR headset is performed based on the second tracking information from the stereo tracking cameras located on the first XR headset and the XR headset-to-display transform. - In order for eye tracking to inform improved eye to display calibration and de-warping (TEA DA and TEB DB), the tracking cameras should be able to recognize and localize both a set of eyes and the corresponding headset coordinate systems in the same optical frames.
- In some embodiments, the control of where information is displayed on the display device of the second XR headset based on the eye-to-display relationship, includes to adjust a projected image displayed on a see-through display screen of the display device of the second XR headset based on the eye-to-display relationship.
- Significant “real-world” distortion through the displays (i.e., refraction) would add another level of complexity to properly localizing the eyes. If such distortion existed, it would advantageously be compensated for via real-world display calibration in the factory. Such calibration would be applied in the context of the tracked camera to display relationships (TDB CA and TDA CB).
-
FIG. 23 illustrates a flow chart of operations performed by a camera tracking system in accordance with some embodiments. - Referring to
FIG. 23 , in some embodiments the camera tracking system is further configured to operatively obtain 2300 a display-to-eye distortion transform relating optical distortion of real-world images passing through the see-through display screen of the display device of the second XR headset to where a wearer's eyes are posed relative to the see-through display screen. The camera tracking system is also further configured to operativelyfurther control 2302 where symbols are displayed on the see-through display screen of the display device of the second XR headset based on the eye-to-display relationship and the display-to-eye distortion transform. - In some embodiments, recalibration is initiated to ensure accuracy of the displayed images by the XR headset. In one embodiment, the camera tracking system is further configured to operatively display a prompt on the display device of the second XR headset indicating that the user should look at the first XR headset responsive to expiration of a threshold recalibration time since a last calibration of the eye-to-display relationship was performed. In another embodiment, the camera tracking system is further configured to operatively display a prompt on the display device of the second XR headset indicating that the user should adjust pose of the second XR headset relative to the eyes of the user responsive to determining the second XR headset has shifted more than a threshold amount relative to the eyes of the user wearing the second XR headset.
- Some other embodiments relate to the tracking of one headset to another (THA HB) via the tracking cameras. It may be the case that one headset tracking cameras are obstructed or not properly tracking in the same shared (multi-user) coordinate system. In such a situation, the ability for one headset to directly track the pose of another headset would enable improved shared AR experiences.
- As explained above, In some embodiments, the second XR headset is used to perform inside-out eye tracking of the first XR headset wearer. Referring to
FIG. 19 , in these embodiments, the camera tracking system is further configured to operatively determine a third pose of thefirst XR headset 1900 relative to second stereo tracking cameras located on the second XR headset based on third tracking information from the second stereo tracking cameras. The camera tracking system is also further configured to operatively determine a fourth pose of eyes of a user wearing the first XR headset relative to the second stereo tracking cameras located on the second XR headset based on fourth tracking information from the second stereo tracking cameras. The camera tracking system is also further configured to operatively calibrate an eye-to-display relationship defining pose of the eyes of the user wearing the first XR headset to the display device of the first XR headset based on the determined third and fourth poses. The camera tracking system is also further configured to operatively control where symbols are displayed on the display device of the first XR headset based on the eye-to-display relationship. - The following embodiments relate to a computer program product including program code executable by the camera tracking system similar to embodiments discussed above.
- In various embodiments, a computer program product comprising a non-transitory computer readable medium storing program code executable by a camera tracking system is operative to determine a first pose of the second XR headset relative to stereo tracking cameras located on the first XR headset based on first tracking information from the stereo tracking cameras. The program code executable by the camera tracking system is operative to also determine a second pose of eyes of a user wearing the second XR headset relative to the stereo tracking cameras located on the first XR headset based on second tracking information from the stereo tracking cameras. The program code executable by the camera tracking system is operative to also calibrate an eye-to-display relationship defining pose of the eyes of the user wearing the second XR headset to a display device of the second XR headset based on the determined first and second poses. The program code executable by the camera tracking system is operative to also control where symbols are displayed on the display device of the second XR headset based on the eye-to-display relationship.
- In some embodiments, the program code executable by the camera tracking system is further operative to obtain an XR headset-to-display transform between a pose of the second XR headset and a pose of the display device of the second XR headset. The determination of the second pose of the eyes of the user wearing the second XR headset relative to the stereo tracking cameras located on the first XR headset is performed based on the second tracking information from the stereo tracking cameras located on the first XR headset and the XR headset-to-display transform.
- In some embodiments, the first tracking information from the stereo tracking cameras tracks a reference array on the second XR headset. The second tracking information from the stereo tracking cameras tracks the eyes of the user wearing the second XR headset. The XR headset-to-display transform relates the pose of the reference array on the second XR headset and the pose of the display device of the second XR headset.
- In some embodiments, the determination of the first pose of the second XR headset relative to the stereo tracking cameras located on the first XR headset, includes to determine first offset distances between the stereo tracking cameras located on the first XR headset and the second XR headset. The determination of the second pose of the eyes of the user wearing the second XR headset relative to the stereo tracking cameras located on the first XR headset, includes to determine second offset distances between the stereo tracking cameras located on the first XR headset and the eyes of the user. The calibration of the eye-to-display relationship defining pose of the eyes of the user wearing the second XR headset to the display device of the second XR headset, includes to determine third offset distances between the eyes of the user and the display device of the second XR headset based on the first and second offset distances.
- In some embodiments, the determination of the second pose and the calibration of the eye-to-display relationship are performed responsive to detection of the eyes of the user wearing the second XR headset when imaged in video frames from the stereo tracking cameras located on the first XR headset.
- In some embodiments, the control of where information is displayed on the display device of the second XR headset based on the eye-to-display relationship, includes to adjust a projected image displayed on a see-through display screen of the display device of the second XR headset based on the eye-to-display relationship.
- In some embodiments, the program code executable by the camera tracking system is further operative to obtain a display-to-eye distortion transform relating optical distortion of real-world images passing through the see-through display screen of the display device of the second XR headset to where a wearer's eyes are posed relative to the see-through display screen. The program code executable by the camera tracking system is also further operative to further control where symbols are displayed on the see-through display screen of the display device of the second XR headset based on the eye-to-display relationship and the display-to-eye distortion transform.
- In some embodiments, the program code executable by the camera tracking system is further operative to, responsive to expiration of a threshold recalibration time since a last calibration of the eye-to-display relationship was performed, displaying a prompt on the display device of the second XR headset indicating that the user should look at the first XR headset.
- In some embodiments, the program code executable by the camera tracking system is further operative to, responsive to determining the second XR headset has shifted more than a threshold amount relative to the eyes of the user wearing the second XR headset, displaying a prompt on the display device of the second XR headset indicating that the user should adjust pose of the second XR headset relative to the eyes of the user.
- In some embodiments, the program code executable by the camera tracking system is further operative to determine a third pose of the first XR headset relative to second stereo tracking cameras located on the second XR headset based on third tracking information from the second stereo tracking cameras. The program code executable by the camera tracking system is also further operative to determine a fourth pose of eyes of a user wearing the first XR headset relative to the second stereo tracking cameras located on the second XR headset based on fourth tracking information from the second stereo tracking cameras. The program code executable by the camera tracking system is also further operative to calibrate an eye-to-display relationship defining pose of the eyes of the user wearing the first XR headset to the display device of the first XR headset based on the determined third and fourth pose. The program code executable by the camera tracking system is also further operative to control where symbols are displayed on the display device of the first XR headset based on the eye-to-display relationship.
- In the above-description of various embodiments of present inventive concepts, it is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of present inventive concepts. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which present inventive concepts belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense expressly so defined herein.
- When an element is referred to as being “connected”, “coupled”, “responsive”, or variants thereof to another element, it can be directly connected, coupled, or responsive to the other element or intervening elements may be present. In contrast, when an element is referred to as being “directly connected”, “directly coupled”, “directly responsive”, or variants thereof to another element, there are no intervening elements present. Like numbers refer to like elements throughout. Furthermore, “coupled”, “connected”, “responsive”, or variants thereof as used herein may include wirelessly coupled, connected, or responsive. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. Well-known functions or constructions may not be described in detail for brevity and/or clarity. The term “and/or” includes any and all combinations of one or more of the associated listed items.
- It will be understood that although the terms first, second, third, etc. may be used herein to describe various elements/operations, these elements/operations should not be limited by these terms. These terms are only used to distinguish one element/operation from another element/operation. Thus, a first element/operation in some embodiments could be termed a second element/operation in other embodiments without departing from the teachings of present inventive concepts. The same reference numerals or the same reference designators denote the same or similar elements throughout the specification.
- As used herein, the terms “comprise”, “comprising”, “comprises”, “include”, “including”, “includes”, “have”, “has”, “having”, or variants thereof are open-ended, and include one or more stated features, integers, elements, steps, components or functions but does not preclude the presence or addition of one or more other features, integers, elements, steps, components, functions or groups thereof. Furthermore, as used herein, the common abbreviation “e.g.”, which derives from the Latin phrase “exempli gratia,” may be used to introduce or specify a general example or examples of a previously mentioned item, and is not intended to be limiting of such item. The common abbreviation “i.e.”, which derives from the Latin phrase “id est,” may be used to specify a particular item from a more general recitation.
- Example embodiments are described herein with reference to block diagrams and/or flowchart illustrations of computer-implemented methods, apparatus (systems and/or devices) and/or computer program products. It is understood that a block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions that are performed by one or more computer circuits. These computer program instructions may be provided to a processor circuit of a general purpose computer circuit, special purpose computer circuit, and/or other programmable data processing circuit to produce a machine, such that the instructions, which execute via the processor of the computer and/or other programmable data processing apparatus, transform and control transistors, values stored in memory locations, and other hardware components within such circuitry to implement the functions/acts specified in the block diagrams and/or flowchart block or blocks, and thereby create means (functionality) and/or structure for implementing the functions/acts specified in the block diagrams and/or flowchart block(s).
- These computer program instructions may also be stored in a tangible computer-readable medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instructions which implement the functions/acts specified in the block diagrams and/or flowchart block or blocks. Accordingly, embodiments of present inventive concepts may be embodied in hardware and/or in software (including firmware, resident software, micro-code, etc.) that runs on a processor such as a digital signal processor, which may collectively be referred to as “circuitry,” “a module” or variants thereof.
- It should also be noted that in some alternate implementations, the functions/acts noted in the blocks may occur out of the order noted in the flowcharts. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Moreover, the functionality of a given block of the flowcharts and/or block diagrams may be separated into multiple blocks and/or the functionality of two or more blocks of the flowcharts and/or block diagrams may be at least partially integrated. Finally, other blocks may be added/inserted between the blocks that are illustrated, and/or blocks/operations may be omitted without departing from the scope of inventive concepts. Moreover, although some of the diagrams include arrows on communication paths to show a primary direction of communication, it is to be understood that communication may occur in the opposite direction to the depicted arrows.
- Many variations and modifications can be made to the embodiments without substantially departing from the principles of the present inventive concepts. All such variations and modifications are intended to be included herein within the scope of present inventive concepts. Accordingly, the above disclosed subject matter is to be considered illustrative, and not restrictive, and the appended examples of embodiments are intended to cover all such modifications, enhancements, and other embodiments, which fall within the spirit and scope of present inventive concepts. Thus, to the maximum extent allowed by law, the scope of present inventive concepts are to be determined by the broadest permissible interpretation of the present disclosure including the following examples of embodiments and their equivalents, and shall not be restricted or limited by the foregoing detailed description.
Claims (20)
1. A method of computer assisted navigation during surgery comprising:
receiving, from a reflective surface, a reflection of an extended-reality (XR) headset by stereo cameras of the XR headset, the XR headset having a see-through screen for displaying images for viewing by a user wearing the XR headset;
determining a pose of the user eyes relative to the XR headset based on the received reflection;
calibrating an eye-to-display relationship based on the determined pose of the eyes; and
controlling where symbols are displayed on the screen of the XR headset based on the eye-to-display relationship.
2. The method of claim 1 , wherein the step of determining includes determining the pose based on a tracking reference array attached to the XR headset and viewable by sensors of a navigation system.
3. The method of claim 1 , wherein the step of controlling includes adjusting an image displayed on the see-through screen of the XR headset based on the calibrated eye-to-display relationship.
4. The method of claim 3 , further comprising:
obtaining a display-to-eye distortion transform relating optical distortion of real-world images passing through the see-through screen to where user eyes are posed relative to the see-through screen; and
further controlling where symbols are displayed on the see-through screen based on the eye-to-display relationship and the display-to-eye distortion transform.
5. The method of claim 1 , wherein determining a pose of the user eyes includes determining a pose of pupils of the eyes.
6. The method of claim 1 , wherein the step of receiving a reflection include receiving the reflection from a planar mirror.
7. The method of claim 1 , wherein determining a pose includes determining the pose based on the shape of the XR headset.
8. The method of claim 1 , wherein the step of determining a pose includes determining how far away the user is from the reflective surface and how far the user eyes are from the stereo cameras.
9. The method of claim 1 , wherein the step of controlling includes controlling where the symbols are overlaid on tracked real-world objects.
10. The method of claim 1 , wherein:
the XR headset includes a tracking reference array viewable by sensors of a navigation system, and an image projector that projects images to be reflected by the see-through screen toward the user eyes;
the step of controlling includes projecting the symbols on the see-through screen to be reflected toward the user eyes.
11. The method of claim 1 , wherein the see-through screen is a semi-transparent screen that acts to combine real world image with the symbols.
12. A method of computer assisted navigation during surgery comprising:
providing an extended-reality (XR) headset having stereo cameras, an image projector and a see-through screen for reflecting images created by the image projector for viewing by a user wearing the XR headset and for transmitting real world images to the user;
receiving, from a reflective surface, a reflection of the XR headset by the stereo cameras of the XR headset worn by the user;
determining a pose of the user eyes relative to the XR headset based on the received reflection;
calibrating an eye-to-display relationship based on the determined pose of the eyes; and
controlling where symbols created by the image projector are displayed on the screen of the XR headset based on the eye-to-display relationship.
13. The method of claim 12 , wherein the step of determining includes determining the pose based on a tracking reference array attached to the XR headset and viewable by sensors of a navigation system.
14. The method of claim 12 , wherein the step of controlling includes adjusting an image projected onto the see-through screen of the XR headset based on the calibrated eye-to-display relationship.
15. The method of claim 14 , further comprising:
obtaining a display-to-eye distortion transform relating optical distortion of real-world images passing through the see-through screen to where user eyes are posed relative to the see-through screen; and
further controlling where symbols are projected onto the see-through screen based on the eye-to-display relationship and the display-to-eye distortion transform.
16. The method of claim 12 , wherein determining a pose of the user eyes includes determining a pose of pupils of the eyes.
17. The method of claim 12 , wherein the step of receiving a reflection include receiving the reflection from a planar mirror.
18. The method of claim 12 , wherein determining a pose includes determining the pose based on the shape of the XR headset.
19. The method of claim 12 , wherein the step of determining a pose includes determining how far away the user is from the reflective surface and how far the user eyes are from the stereo cameras.
20. The method of claim 12 , wherein the step of controlling includes controlling where the symbols are overlaid on tracked real-world objects.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/846,259 US20220313386A1 (en) | 2020-06-16 | 2022-06-22 | Navigated surgical system with eye to xr headset display calibration |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/902,715 US11382713B2 (en) | 2020-06-16 | 2020-06-16 | Navigated surgical system with eye to XR headset display calibration |
US17/846,259 US20220313386A1 (en) | 2020-06-16 | 2022-06-22 | Navigated surgical system with eye to xr headset display calibration |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/902,715 Continuation US11382713B2 (en) | 2020-06-16 | 2020-06-16 | Navigated surgical system with eye to XR headset display calibration |
Publications (1)
Publication Number | Publication Date |
---|---|
US20220313386A1 true US20220313386A1 (en) | 2022-10-06 |
Family
ID=78824086
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/902,715 Active 2041-01-06 US11382713B2 (en) | 2020-06-16 | 2020-06-16 | Navigated surgical system with eye to XR headset display calibration |
US17/846,259 Pending US20220313386A1 (en) | 2020-06-16 | 2022-06-22 | Navigated surgical system with eye to xr headset display calibration |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/902,715 Active 2041-01-06 US11382713B2 (en) | 2020-06-16 | 2020-06-16 | Navigated surgical system with eye to XR headset display calibration |
Country Status (1)
Country | Link |
---|---|
US (2) | US11382713B2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US12020801B2 (en) | 2018-06-19 | 2024-06-25 | Howmedica Osteonics Corp. | Virtual guidance for orthopedic surgical procedures |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2955481B1 (en) | 2010-01-27 | 2013-06-14 | Tornier Sa | DEVICE AND METHOD FOR GLENOIDAL CHARACTERIZATION OF PROSTHETIC OR RESURFACING OMOPLATE |
GB2536650A (en) | 2015-03-24 | 2016-09-28 | Augmedics Ltd | Method and system for combining video-based and optic-based augmented reality in a near eye display |
US11980507B2 (en) | 2018-05-02 | 2024-05-14 | Augmedics Ltd. | Registration of a fiducial marker for an augmented reality system |
US11766296B2 (en) | 2018-11-26 | 2023-09-26 | Augmedics Ltd. | Tracking system for image-guided surgery |
WO2020156667A1 (en) * | 2019-01-31 | 2020-08-06 | Brainlab Ag | Virtual trajectory planning |
US11980506B2 (en) | 2019-07-29 | 2024-05-14 | Augmedics Ltd. | Fiducial marker |
US11382712B2 (en) | 2019-12-22 | 2022-07-12 | Augmedics Ltd. | Mirroring in image guided surgery |
US11896445B2 (en) | 2021-07-07 | 2024-02-13 | Augmedics Ltd. | Iliac pin and adapter |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160026253A1 (en) * | 2014-03-11 | 2016-01-28 | Magic Leap, Inc. | Methods and systems for creating virtual and augmented reality |
US20160116741A1 (en) * | 2014-10-27 | 2016-04-28 | Seiko Epson Corporation | Display apparatus and method for controlling display apparatus |
US20180253145A1 (en) * | 2012-12-19 | 2018-09-06 | Qualcomm Incorporated | Enabling augmented reality using eye gaze tracking |
US20190073820A1 (en) * | 2017-09-01 | 2019-03-07 | Mira Labs, Inc. | Ray Tracing System for Optical Headsets |
Family Cites Families (558)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2614083B2 (en) | 1976-04-01 | 1979-02-08 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | X-ray film device for the production of transverse slice images |
US5354314A (en) | 1988-12-23 | 1994-10-11 | Medical Instrumentation And Diagnostics Corporation | Three-dimensional beam localization apparatus and microscope for stereotactic diagnoses or surgery mounted on robotic type arm |
US5246010A (en) | 1990-12-11 | 1993-09-21 | Biotrine Corporation | Method and apparatus for exhalation analysis |
US5417210A (en) | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US6963792B1 (en) | 1992-01-21 | 2005-11-08 | Sri International | Surgical method |
US5631973A (en) | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
US5657429A (en) | 1992-08-10 | 1997-08-12 | Computer Motion, Inc. | Automated endoscope system optimal positioning |
US5397323A (en) | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
EP0699053B1 (en) | 1993-05-14 | 1999-03-17 | Sri International | Surgical apparatus |
JP3378401B2 (en) | 1994-08-30 | 2003-02-17 | 株式会社日立メディコ | X-ray equipment |
US6646541B1 (en) | 1996-06-24 | 2003-11-11 | Computer Motion, Inc. | General purpose distributed operating room control system |
DE29521895U1 (en) | 1994-10-07 | 1998-09-10 | St. Louis University, St. Louis, Mo. | Surgical navigation system comprising reference and localization frames |
US6978166B2 (en) | 1994-10-07 | 2005-12-20 | Saint Louis University | System for use in displaying images of a body part |
US5882206A (en) | 1995-03-29 | 1999-03-16 | Gillio; Robert G. | Virtual surgery system |
US5887121A (en) | 1995-04-21 | 1999-03-23 | International Business Machines Corporation | Method of constrained Cartesian control of robotic mechanisms with active and passive joints |
US6122541A (en) | 1995-05-04 | 2000-09-19 | Radionics, Inc. | Head band for frameless stereotactic registration |
US5649956A (en) | 1995-06-07 | 1997-07-22 | Sri International | System and method for releasably holding a surgical instrument |
US5825982A (en) | 1995-09-15 | 1998-10-20 | Wright; James | Head cursor control interface for an automated endoscope system for optimal positioning |
US5772594A (en) | 1995-10-17 | 1998-06-30 | Barrick; Earl F. | Fluoroscopic image guided orthopaedic surgery system with intraoperative registration |
US5855583A (en) | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
SG64340A1 (en) | 1996-02-27 | 1999-04-27 | Inst Of Systems Science Nation | Curved surgical instruments and methods of mapping a curved path for stereotactic surgery |
US6167145A (en) | 1996-03-29 | 2000-12-26 | Surgical Navigation Technologies, Inc. | Bone navigation system |
US5792135A (en) | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US6167296A (en) | 1996-06-28 | 2000-12-26 | The Board Of Trustees Of The Leland Stanford Junior University | Method for volumetric image navigation |
US7302288B1 (en) | 1996-11-25 | 2007-11-27 | Z-Kat, Inc. | Tool position indicator |
US9050119B2 (en) | 2005-12-20 | 2015-06-09 | Intuitive Surgical Operations, Inc. | Cable tensioning in a robotic surgical system |
US8529582B2 (en) | 1996-12-12 | 2013-09-10 | Intuitive Surgical Operations, Inc. | Instrument interface of a robotic surgical system |
US7727244B2 (en) | 1997-11-21 | 2010-06-01 | Intuitive Surgical Operation, Inc. | Sterile surgical drape |
US6205411B1 (en) | 1997-02-21 | 2001-03-20 | Carnegie Mellon University | Computer-assisted surgery planner and intra-operative guidance system |
US6012216A (en) | 1997-04-30 | 2000-01-11 | Ethicon, Inc. | Stand alone swage apparatus |
US5820559A (en) | 1997-03-20 | 1998-10-13 | Ng; Wan Sing | Computerized boundary estimation in medical images |
US5911449A (en) | 1997-04-30 | 1999-06-15 | Ethicon, Inc. | Semi-automated needle feed method and apparatus |
US6231565B1 (en) | 1997-06-18 | 2001-05-15 | United States Surgical Corporation | Robotic arm DLUs for performing surgical tasks |
EP2362285B1 (en) | 1997-09-19 | 2015-03-25 | Massachusetts Institute of Technology | Robotic apparatus |
US6226548B1 (en) | 1997-09-24 | 2001-05-01 | Surgical Navigation Technologies, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
US5951475A (en) | 1997-09-25 | 1999-09-14 | International Business Machines Corporation | Methods and apparatus for registering CT-scan data to multiple fluoroscopic images |
US5987960A (en) | 1997-09-26 | 1999-11-23 | Picker International, Inc. | Tool calibrator |
US6157853A (en) | 1997-11-12 | 2000-12-05 | Stereotaxis, Inc. | Method and apparatus using shaped field of repositionable magnet to guide implant |
US6212419B1 (en) | 1997-11-12 | 2001-04-03 | Walter M. Blume | Method and apparatus using shaped field of repositionable magnet to guide implant |
US6031888A (en) | 1997-11-26 | 2000-02-29 | Picker International, Inc. | Fluoro-assist feature for a diagnostic imaging device |
US6165170A (en) | 1998-01-29 | 2000-12-26 | International Business Machines Corporation | Laser dermablator and dermablation |
US7371210B2 (en) | 1998-02-24 | 2008-05-13 | Hansen Medical, Inc. | Flexible instrument |
FR2779339B1 (en) | 1998-06-09 | 2000-10-13 | Integrated Surgical Systems Sa | MATCHING METHOD AND APPARATUS FOR ROBOTIC SURGERY, AND MATCHING DEVICE COMPRISING APPLICATION |
US6477400B1 (en) | 1998-08-20 | 2002-11-05 | Sofamor Danek Holdings, Inc. | Fluoroscopic image guided orthopaedic surgery system with intraoperative registration |
DE19839825C1 (en) | 1998-09-01 | 1999-10-07 | Siemens Ag | Diagnostic X=ray device |
US6033415A (en) | 1998-09-14 | 2000-03-07 | Integrated Surgical Systems | System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system |
DE19842798C1 (en) | 1998-09-18 | 2000-05-04 | Howmedica Leibinger Gmbh & Co | Calibration device |
US6340363B1 (en) | 1998-10-09 | 2002-01-22 | Surgical Navigation Technologies, Inc. | Image guided vertebral distractor and method for tracking the position of vertebrae |
US8527094B2 (en) | 1998-11-20 | 2013-09-03 | Intuitive Surgical Operations, Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
US6659939B2 (en) | 1998-11-20 | 2003-12-09 | Intuitive Surgical, Inc. | Cooperative minimally invasive telesurgical system |
US7125403B2 (en) | 1998-12-08 | 2006-10-24 | Intuitive Surgical | In vivo accessories for minimally invasive robotic surgery |
US6325808B1 (en) | 1998-12-08 | 2001-12-04 | Advanced Realtime Control Systems, Inc. | Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery |
US6322567B1 (en) | 1998-12-14 | 2001-11-27 | Integrated Surgical Systems, Inc. | Bone motion tracking system |
US6451027B1 (en) | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
US7016457B1 (en) | 1998-12-31 | 2006-03-21 | General Electric Company | Multimode imaging system for generating high quality images |
DE19905974A1 (en) | 1999-02-12 | 2000-09-07 | Siemens Ag | Computer tomography scanning method using multi-line detector |
US6560354B1 (en) | 1999-02-16 | 2003-05-06 | University Of Rochester | Apparatus and method for registration of images to physical space using a weighted combination of points and surfaces |
US6778850B1 (en) | 1999-03-16 | 2004-08-17 | Accuray, Inc. | Frameless radiosurgery treatment system and method |
US6144875A (en) | 1999-03-16 | 2000-11-07 | Accuray Incorporated | Apparatus and method for compensating for respiratory and patient motion during treatment |
US6501981B1 (en) | 1999-03-16 | 2002-12-31 | Accuray, Inc. | Apparatus and method for compensating for respiratory and patient motions during treatment |
US6470207B1 (en) | 1999-03-23 | 2002-10-22 | Surgical Navigation Technologies, Inc. | Navigational guidance via computer-assisted fluoroscopic imaging |
JP2000271110A (en) | 1999-03-26 | 2000-10-03 | Hitachi Medical Corp | Medical x-ray system |
US6594552B1 (en) | 1999-04-07 | 2003-07-15 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
US6424885B1 (en) | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
US6565554B1 (en) | 1999-04-07 | 2003-05-20 | Intuitive Surgical, Inc. | Friction compensation in a minimally invasive surgical apparatus |
US6301495B1 (en) | 1999-04-27 | 2001-10-09 | International Business Machines Corporation | System and method for intra-operative, image-based, interactive verification of a pre-operative surgical plan |
DE19927953A1 (en) | 1999-06-18 | 2001-01-11 | Siemens Ag | X=ray diagnostic apparatus |
US6314311B1 (en) | 1999-07-28 | 2001-11-06 | Picker International, Inc. | Movable mirror laser registration system |
US6788018B1 (en) | 1999-08-03 | 2004-09-07 | Intuitive Surgical, Inc. | Ceiling and floor mounted surgical robot set-up arms |
US7594912B2 (en) | 2004-09-30 | 2009-09-29 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
US9492235B2 (en) | 1999-09-17 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Manipulator arm-to-patient collision avoidance using a null-space |
US8271130B2 (en) | 2009-03-09 | 2012-09-18 | Intuitive Surgical Operations, Inc. | Master controller having redundant degrees of freedom and added forces to create internal motion |
US8004229B2 (en) | 2005-05-19 | 2011-08-23 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
US6312435B1 (en) | 1999-10-08 | 2001-11-06 | Intuitive Surgical, Inc. | Surgical instrument with extended reach for use in minimally invasive surgery |
US6379302B1 (en) | 1999-10-28 | 2002-04-30 | Surgical Navigation Technologies Inc. | Navigation information overlay onto ultrasound imagery |
US7366562B2 (en) | 2003-10-17 | 2008-04-29 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US8239001B2 (en) | 2003-10-17 | 2012-08-07 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US6235038B1 (en) | 1999-10-28 | 2001-05-22 | Medtronic Surgical Navigation Technologies | System for translation of electromagnetic and optical localization systems |
US6499488B1 (en) | 1999-10-28 | 2002-12-31 | Winchester Development Associates | Surgical sensor |
US8644907B2 (en) | 1999-10-28 | 2014-02-04 | Medtronic Navigaton, Inc. | Method and apparatus for surgical navigation |
WO2001043070A2 (en) | 1999-12-10 | 2001-06-14 | Miller Michael I | Method and apparatus for cross modality image registration |
US7635390B1 (en) | 2000-01-14 | 2009-12-22 | Marctec, Llc | Joint replacement component having a modular articulating surface |
US6377011B1 (en) | 2000-01-26 | 2002-04-23 | Massachusetts Institute Of Technology | Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus |
US6757068B2 (en) | 2000-01-28 | 2004-06-29 | Intersense, Inc. | Self-referenced tracking |
WO2001064124A1 (en) | 2000-03-01 | 2001-09-07 | Surgical Navigation Technologies, Inc. | Multiple cannula image guided tool for image guided procedures |
US6996487B2 (en) | 2000-03-15 | 2006-02-07 | Orthosoft Inc. | Automatic calibration system for computer-aided surgical instruments |
US6535756B1 (en) | 2000-04-07 | 2003-03-18 | Surgical Navigation Technologies, Inc. | Trajectory storage apparatus and method for surgical navigation system |
US6856827B2 (en) | 2000-04-28 | 2005-02-15 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic tracking and visualization system |
US6856826B2 (en) | 2000-04-28 | 2005-02-15 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic tracking and visualization system |
US6490475B1 (en) | 2000-04-28 | 2002-12-03 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic tracking and visualization system |
US6614453B1 (en) | 2000-05-05 | 2003-09-02 | Koninklijke Philips Electronics, N.V. | Method and apparatus for medical image display for surgical tool planning and navigation in clinical environments |
US6645196B1 (en) | 2000-06-16 | 2003-11-11 | Intuitive Surgical, Inc. | Guided tool change |
US6782287B2 (en) | 2000-06-27 | 2004-08-24 | The Board Of Trustees Of The Leland Stanford Junior University | Method and apparatus for tracking a medical instrument based on image registration |
US6837892B2 (en) | 2000-07-24 | 2005-01-04 | Mazor Surgical Technologies Ltd. | Miniature bone-mounted surgical robot |
US6902560B1 (en) | 2000-07-27 | 2005-06-07 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
DE10037491A1 (en) | 2000-08-01 | 2002-02-14 | Stryker Leibinger Gmbh & Co Kg | Process for three-dimensional visualization of structures inside the body |
US6823207B1 (en) | 2000-08-26 | 2004-11-23 | Ge Medical Systems Global Technology Company, Llc | Integrated fluoroscopic surgical navigation and imaging workstation with command protocol |
CA2422950A1 (en) | 2000-09-25 | 2002-05-02 | Rony A. Abovitz | Fluoroscopic registration artifact with optical and/or magnetic markers |
EP1328208A1 (en) | 2000-10-23 | 2003-07-23 | Deutsches Krebsforschungszentrum Stiftung des öffentlichen Rechts | Method, device and navigation aid for navigation during medical interventions |
US6718194B2 (en) | 2000-11-17 | 2004-04-06 | Ge Medical Systems Global Technology Company, Llc | Computer assisted intramedullary rod surgery system with enhanced features |
US6666579B2 (en) | 2000-12-28 | 2003-12-23 | Ge Medical Systems Global Technology Company, Llc | Method and apparatus for obtaining and displaying computed tomography images using a fluoroscopy imaging system |
US6840938B1 (en) | 2000-12-29 | 2005-01-11 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
EP1364183B1 (en) | 2001-01-30 | 2013-11-06 | Mako Surgical Corp. | Tool calibrator and tracker system |
US7220262B1 (en) | 2001-03-16 | 2007-05-22 | Sdgi Holdings, Inc. | Spinal fixation system and related methods |
FR2822674B1 (en) | 2001-04-03 | 2003-06-27 | Scient X | STABILIZED INTERSOMATIC MELTING SYSTEM FOR VERTEBERS |
WO2002083003A1 (en) | 2001-04-11 | 2002-10-24 | Clarke Dana S | Tissue structure identification in advance of instrument |
US8398634B2 (en) | 2002-04-18 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Wristed robotic surgical tool for pluggable end-effectors |
US7824401B2 (en) | 2004-10-08 | 2010-11-02 | Intuitive Surgical Operations, Inc. | Robotic tool with wristed monopolar electrosurgical end effectors |
US6994708B2 (en) | 2001-04-19 | 2006-02-07 | Intuitive Surgical | Robotic tool with monopolar electro-surgical scissors |
US6783524B2 (en) | 2001-04-19 | 2004-08-31 | Intuitive Surgical, Inc. | Robotic surgical tool with ultrasound cauterizing and cutting instrument |
US6636757B1 (en) | 2001-06-04 | 2003-10-21 | Surgical Navigation Technologies, Inc. | Method and apparatus for electromagnetic navigation of a surgical probe near a metal object |
US7607440B2 (en) | 2001-06-07 | 2009-10-27 | Intuitive Surgical, Inc. | Methods and apparatus for surgical planning |
DE60130264T2 (en) | 2001-06-13 | 2008-05-21 | Volume Interactions Pte. Ltd. | MANAGEMENT SYSTEM |
US6584339B2 (en) | 2001-06-27 | 2003-06-24 | Vanderbilt University | Method and apparatus for collecting and processing physical space data for use while performing image-guided surgery |
US7063705B2 (en) | 2001-06-29 | 2006-06-20 | Sdgi Holdings, Inc. | Fluoroscopic locator and registration device |
JP4347043B2 (en) | 2001-06-29 | 2009-10-21 | イントゥイティブ・サージカル・インコーポレーテッド | Platform joint wrist |
US20040243147A1 (en) | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
ITMI20011759A1 (en) | 2001-08-09 | 2003-02-09 | Nuovo Pignone Spa | SCRAPER DEVICE FOR PISTON ROD OF ALTERNATIVE COMPRESSORS |
US7708741B1 (en) | 2001-08-28 | 2010-05-04 | Marctec, Llc | Method of preparing bones for knee replacement surgery |
US6728599B2 (en) | 2001-09-07 | 2004-04-27 | Computer Motion, Inc. | Modularity system for computer assisted surgery |
US6587750B2 (en) | 2001-09-25 | 2003-07-01 | Intuitive Surgical, Inc. | Removable infinite roll master grip handle and touch sensor for robotic surgery |
US6619840B2 (en) | 2001-10-15 | 2003-09-16 | Koninklijke Philips Electronics N.V. | Interventional volume scanner |
US6839612B2 (en) | 2001-12-07 | 2005-01-04 | Institute Surgical, Inc. | Microwrist system for surgical procedures |
US6947786B2 (en) | 2002-02-28 | 2005-09-20 | Surgical Navigation Technologies, Inc. | Method and apparatus for perspective inversion |
US8996169B2 (en) | 2011-12-29 | 2015-03-31 | Mako Surgical Corp. | Neural monitor-based dynamic haptics |
EP1485697A2 (en) | 2002-03-19 | 2004-12-15 | Breakaway Imaging, Llc | Computer tomograph with a detector following the movement of a pivotable x-ray source |
AU2003224882A1 (en) | 2002-04-05 | 2003-10-27 | The Trustees Of Columbia University In The City Of New York | Robotic scrub nurse |
US7099428B2 (en) | 2002-06-25 | 2006-08-29 | The Regents Of The University Of Michigan | High spatial resolution X-ray computed tomography (CT) system |
US7248914B2 (en) | 2002-06-28 | 2007-07-24 | Stereotaxis, Inc. | Method of navigating medical devices in the presence of radiopaque material |
US7630752B2 (en) | 2002-08-06 | 2009-12-08 | Stereotaxis, Inc. | Remote control of medical devices using a virtual device interface |
US7231063B2 (en) | 2002-08-09 | 2007-06-12 | Intersense, Inc. | Fiducial detection system |
US6922632B2 (en) | 2002-08-09 | 2005-07-26 | Intersense, Inc. | Tracking, auto-calibration, and map-building system |
US7155316B2 (en) | 2002-08-13 | 2006-12-26 | Microbotics Corporation | Microsurgical robot system |
US6892090B2 (en) | 2002-08-19 | 2005-05-10 | Surgical Navigation Technologies, Inc. | Method and apparatus for virtual endoscopy |
US7331967B2 (en) | 2002-09-09 | 2008-02-19 | Hansen Medical, Inc. | Surgical instrument coupling mechanism |
ES2204322B1 (en) | 2002-10-01 | 2005-07-16 | Consejo Sup. De Invest. Cientificas | FUNCTIONAL BROWSER. |
JP3821435B2 (en) | 2002-10-18 | 2006-09-13 | 松下電器産業株式会社 | Ultrasonic probe |
US7319897B2 (en) | 2002-12-02 | 2008-01-15 | Aesculap Ag & Co. Kg | Localization device display method and apparatus |
US7318827B2 (en) | 2002-12-02 | 2008-01-15 | Aesculap Ag & Co. Kg | Osteotomy procedure |
US8814793B2 (en) | 2002-12-03 | 2014-08-26 | Neorad As | Respiration monitor |
US7386365B2 (en) | 2004-05-04 | 2008-06-10 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
US7945021B2 (en) | 2002-12-18 | 2011-05-17 | Varian Medical Systems, Inc. | Multi-mode cone beam CT radiotherapy simulator and treatment machine with a flat panel imager |
US7505809B2 (en) | 2003-01-13 | 2009-03-17 | Mediguide Ltd. | Method and system for registering a first image with a second image relative to the body of a patient |
US7542791B2 (en) | 2003-01-30 | 2009-06-02 | Medtronic Navigation, Inc. | Method and apparatus for preplanning a surgical procedure |
US7660623B2 (en) | 2003-01-30 | 2010-02-09 | Medtronic Navigation, Inc. | Six degree of freedom alignment display for medical procedures |
WO2004069040A2 (en) | 2003-02-04 | 2004-08-19 | Z-Kat, Inc. | Method and apparatus for computer assistance with intramedullary nail procedure |
US6988009B2 (en) | 2003-02-04 | 2006-01-17 | Zimmer Technology, Inc. | Implant registration device for surgical navigation system |
US7083615B2 (en) | 2003-02-24 | 2006-08-01 | Intuitive Surgical Inc | Surgical tool having electrocautery energy supply conductor with inhibited current leakage |
JP4163991B2 (en) | 2003-04-30 | 2008-10-08 | 株式会社モリタ製作所 | X-ray CT imaging apparatus and imaging method |
US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
US7194120B2 (en) | 2003-05-29 | 2007-03-20 | Board Of Regents, The University Of Texas System | Methods and systems for image-guided placement of implants |
US7171257B2 (en) | 2003-06-11 | 2007-01-30 | Accuray Incorporated | Apparatus and method for radiosurgery |
US9002518B2 (en) | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
US7960935B2 (en) | 2003-07-08 | 2011-06-14 | The Board Of Regents Of The University Of Nebraska | Robotic devices with agent delivery components and related methods |
US7042184B2 (en) | 2003-07-08 | 2006-05-09 | Board Of Regents Of The University Of Nebraska | Microrobot for surgical applications |
JP2007530085A (en) | 2003-07-15 | 2007-11-01 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | Computer tomography scanner with large gantry bore |
US7313430B2 (en) | 2003-08-28 | 2007-12-25 | Medtronic Navigation, Inc. | Method and apparatus for performing stereotactic surgery |
US7835778B2 (en) | 2003-10-16 | 2010-11-16 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation of a multiple piece construct for implantation |
US7840253B2 (en) | 2003-10-17 | 2010-11-23 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US20050171558A1 (en) | 2003-10-17 | 2005-08-04 | Abovitz Rony A. | Neurosurgery targeting and delivery system for brain structures |
US20050096502A1 (en) | 2003-10-29 | 2005-05-05 | Khalili Theodore M. | Robotic surgical device |
US9393039B2 (en) | 2003-12-17 | 2016-07-19 | Brainlab Ag | Universal instrument or instrument set for computer guided surgery |
US7466303B2 (en) | 2004-02-10 | 2008-12-16 | Sunnybrook Health Sciences Center | Device and process for manipulating real and virtual objects in three-dimensional space |
US7974681B2 (en) | 2004-03-05 | 2011-07-05 | Hansen Medical, Inc. | Robotic catheter system |
US20080287781A1 (en) | 2004-03-05 | 2008-11-20 | Depuy International Limited | Registration Methods and Apparatus |
EP1722705A2 (en) | 2004-03-10 | 2006-11-22 | Depuy International Limited | Orthopaedic operating systems, methods, implants and instruments |
US7657298B2 (en) | 2004-03-11 | 2010-02-02 | Stryker Leibinger Gmbh & Co. Kg | System, device, and method for determining a position of an object |
US8475495B2 (en) | 2004-04-08 | 2013-07-02 | Globus Medical | Polyaxial screw |
US8860753B2 (en) | 2004-04-13 | 2014-10-14 | University Of Georgia Research Foundation, Inc. | Virtual surgical system and methods |
KR100617974B1 (en) | 2004-04-22 | 2006-08-31 | 한국과학기술원 | Command-following laparoscopic system |
US7567834B2 (en) | 2004-05-03 | 2009-07-28 | Medtronic Navigation, Inc. | Method and apparatus for implantation between two vertebral bodies |
US7379790B2 (en) | 2004-05-04 | 2008-05-27 | Intuitive Surgical, Inc. | Tool memory-based software upgrades for robotic surgery |
US8528565B2 (en) | 2004-05-28 | 2013-09-10 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for automated therapy delivery |
US7974674B2 (en) | 2004-05-28 | 2011-07-05 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for surface modeling |
FR2871363B1 (en) | 2004-06-15 | 2006-09-01 | Medtech Sa | ROBOTIZED GUIDING DEVICE FOR SURGICAL TOOL |
US7327865B2 (en) | 2004-06-30 | 2008-02-05 | Accuray, Inc. | Fiducial-less tracking with non-rigid image registration |
ITMI20041448A1 (en) | 2004-07-20 | 2004-10-20 | Milano Politecnico | APPARATUS FOR THE MERGER AND NAVIGATION OF ECOGRAPHIC AND VOLUMETRIC IMAGES OF A PATIENT USING A COMBINATION OF ACTIVE AND PASSIVE OPTICAL MARKERS FOR THE LOCALIZATION OF ECHOGRAPHIC PROBES AND SURGICAL INSTRUMENTS COMPARED TO THE PATIENT |
US7440793B2 (en) | 2004-07-22 | 2008-10-21 | Sunita Chauhan | Apparatus and method for removing abnormal tissue |
US7979157B2 (en) | 2004-07-23 | 2011-07-12 | Mcmaster University | Multi-purpose robotic operating system and method |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
GB2422759B (en) | 2004-08-05 | 2008-07-16 | Elekta Ab | Rotatable X-ray scan apparatus with cone beam offset |
US7702379B2 (en) | 2004-08-25 | 2010-04-20 | General Electric Company | System and method for hybrid tracking in surgical navigation |
US7555331B2 (en) | 2004-08-26 | 2009-06-30 | Stereotaxis, Inc. | Method for surgical navigation utilizing scale-invariant registration between a navigation system and a localization system |
DE102004042489B4 (en) | 2004-08-31 | 2012-03-29 | Siemens Ag | Medical examination or treatment facility with associated method |
WO2006029541A1 (en) | 2004-09-15 | 2006-03-23 | Ao Technology Ag | Calibrating device |
EP1799107A1 (en) | 2004-10-06 | 2007-06-27 | Philips Intellectual Property & Standards GmbH | Computed tomography method |
US7831294B2 (en) | 2004-10-07 | 2010-11-09 | Stereotaxis, Inc. | System and method of surgical imagining with anatomical overlay for navigation of surgical devices |
US7983733B2 (en) | 2004-10-26 | 2011-07-19 | Stereotaxis, Inc. | Surgical navigation using a three-dimensional user interface |
US7062006B1 (en) | 2005-01-19 | 2006-06-13 | The Board Of Trustees Of The Leland Stanford Junior University | Computed tomography with increased field of view |
US7837674B2 (en) | 2005-01-24 | 2010-11-23 | Intuitive Surgical Operations, Inc. | Compact counter balance for robotic surgical systems |
US7763015B2 (en) | 2005-01-24 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Modular manipulator support for robotic surgery |
US20060184396A1 (en) | 2005-01-28 | 2006-08-17 | Dennis Charles L | System and method for surgical navigation |
US7231014B2 (en) | 2005-02-14 | 2007-06-12 | Varian Medical Systems Technologies, Inc. | Multiple mode flat panel X-ray imaging system |
KR101121387B1 (en) | 2005-03-07 | 2012-03-09 | 헥터 오. 파체코 | System and methods for improved access to vertebral bodies for kyphoplasty, vertebroplasty, vertebral body biopsy or screw placement |
WO2006102756A1 (en) | 2005-03-30 | 2006-10-05 | University Western Ontario | Anisotropic hydrogels |
US8496647B2 (en) | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
US8375808B2 (en) | 2005-12-30 | 2013-02-19 | Intuitive Surgical Operations, Inc. | Force sensing for surgical instruments |
US7720523B2 (en) | 2005-04-20 | 2010-05-18 | General Electric Company | System and method for managing power deactivation within a medical imaging system |
US8208988B2 (en) | 2005-05-13 | 2012-06-26 | General Electric Company | System and method for controlling a medical imaging device |
EP3679882A1 (en) | 2005-06-06 | 2020-07-15 | Intuitive Surgical Operations, Inc. | Laparoscopic ultrasound robotic surgical system |
US8398541B2 (en) | 2006-06-06 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Interactive user interfaces for robotic minimally invasive surgical systems |
JP2007000406A (en) | 2005-06-24 | 2007-01-11 | Ge Medical Systems Global Technology Co Llc | X-ray ct method and x-ray ct apparatus |
US7840256B2 (en) | 2005-06-27 | 2010-11-23 | Biomet Manufacturing Corporation | Image guided tracking array and method |
US20070005002A1 (en) | 2005-06-30 | 2007-01-04 | Intuitive Surgical Inc. | Robotic surgical instruments for irrigation, aspiration, and blowing |
US20070038059A1 (en) | 2005-07-07 | 2007-02-15 | Garrett Sheffer | Implant and instrument morphing |
WO2007022081A2 (en) | 2005-08-11 | 2007-02-22 | The Brigham And Women's Hospital, Inc. | System and method for performing single photon emission computed tomography (spect) with a focal-length cone-beam collimation |
US7787699B2 (en) | 2005-08-17 | 2010-08-31 | General Electric Company | Real-time integration and recording of surgical image data |
US8800838B2 (en) | 2005-08-31 | 2014-08-12 | Ethicon Endo-Surgery, Inc. | Robotically-controlled cable-based surgical end effectors |
US7643862B2 (en) | 2005-09-15 | 2010-01-05 | Biomet Manufacturing Corporation | Virtual mouse for use in surgical navigation |
US20070073133A1 (en) | 2005-09-15 | 2007-03-29 | Schoenefeld Ryan J | Virtual mouse for use in surgical navigation |
US7835784B2 (en) | 2005-09-21 | 2010-11-16 | Medtronic Navigation, Inc. | Method and apparatus for positioning a reference frame |
US8079950B2 (en) | 2005-09-29 | 2011-12-20 | Intuitive Surgical Operations, Inc. | Autofocus and/or autoscaling in telesurgery |
EP1946243A2 (en) | 2005-10-04 | 2008-07-23 | Intersense, Inc. | Tracking objects with markers |
US20090216113A1 (en) | 2005-11-17 | 2009-08-27 | Eric Meier | Apparatus and Methods for Using an Electromagnetic Transponder in Orthopedic Procedures |
US7711406B2 (en) | 2005-11-23 | 2010-05-04 | General Electric Company | System and method for detection of electromagnetic radiation by amorphous silicon x-ray detector for metal detection in x-ray imaging |
DE602005007509D1 (en) | 2005-11-24 | 2008-07-24 | Brainlab Ag | Medical referencing system with gamma camera |
US7689320B2 (en) | 2005-12-20 | 2010-03-30 | Intuitive Surgical Operations, Inc. | Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations |
US8182470B2 (en) | 2005-12-20 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Telescoping insertion axis of a robotic surgical system |
US7762825B2 (en) | 2005-12-20 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Electro-mechanical interfaces to mount robotic surgical arms |
US8672922B2 (en) | 2005-12-20 | 2014-03-18 | Intuitive Surgical Operations, Inc. | Wireless communication in a robotic surgical system |
US7819859B2 (en) | 2005-12-20 | 2010-10-26 | Intuitive Surgical Operations, Inc. | Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator |
US8054752B2 (en) | 2005-12-22 | 2011-11-08 | Intuitive Surgical Operations, Inc. | Synchronous data communication |
ES2292327B1 (en) | 2005-12-26 | 2009-04-01 | Consejo Superior Investigaciones Cientificas | MINI CAMERA GAMMA AUTONOMA AND WITH LOCATION SYSTEM, FOR INTRACHIRURGICAL USE. |
US7930065B2 (en) | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
US7907166B2 (en) | 2005-12-30 | 2011-03-15 | Intuitive Surgical Operations, Inc. | Stereo telestration for robotic surgery |
JP5152993B2 (en) | 2005-12-30 | 2013-02-27 | インテュイティブ サージカル インコーポレイテッド | Modular force sensor |
US7533892B2 (en) | 2006-01-05 | 2009-05-19 | Intuitive Surgical, Inc. | Steering system for heavy mobile medical equipment |
KR100731052B1 (en) | 2006-01-23 | 2007-06-22 | 한양대학교 산학협력단 | Bi-planar fluoroscopy guided robot system for a minimally invasive surgical |
US8162926B2 (en) | 2006-01-25 | 2012-04-24 | Intuitive Surgical Operations Inc. | Robotic arm with five-bar spherical linkage |
US8142420B2 (en) | 2006-01-25 | 2012-03-27 | Intuitive Surgical Operations Inc. | Robotic arm with five-bar spherical linkage |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
EP1815950A1 (en) | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Robotic surgical system for performing minimally invasive medical procedures |
US8219177B2 (en) | 2006-02-16 | 2012-07-10 | Catholic Healthcare West | Method and system for performing invasive medical procedures using a surgical robot |
US8219178B2 (en) | 2007-02-16 | 2012-07-10 | Catholic Healthcare West | Method and system for performing invasive medical procedures using a surgical robot |
US8526688B2 (en) | 2006-03-09 | 2013-09-03 | General Electric Company | Methods and systems for registration of surgical navigation data and image data |
US8208708B2 (en) | 2006-03-30 | 2012-06-26 | Koninklijke Philips Electronics N.V. | Targeting method, targeting device, computer readable medium and program element |
US20070233238A1 (en) | 2006-03-31 | 2007-10-04 | Medtronic Vascular, Inc. | Devices for Imaging and Navigation During Minimally Invasive Non-Bypass Cardiac Procedures |
CN101466313B (en) | 2006-04-14 | 2012-11-14 | 威廉博蒙特医院 | Scanning slot cone-beam computed tomography and scanning focus spot cone-beam computed tomography |
US8112292B2 (en) | 2006-04-21 | 2012-02-07 | Medtronic Navigation, Inc. | Method and apparatus for optimizing a therapy |
US8021310B2 (en) | 2006-04-21 | 2011-09-20 | Nellcor Puritan Bennett Llc | Work of breathing display for a ventilation system |
US7940999B2 (en) | 2006-04-24 | 2011-05-10 | Siemens Medical Solutions Usa, Inc. | System and method for learning-based 2D/3D rigid registration for image-guided surgery using Jensen-Shannon divergence |
WO2007131561A2 (en) | 2006-05-16 | 2007-11-22 | Surgiceye Gmbh | Method and device for 3d acquisition, 3d visualization and computer guided surgery using nuclear probes |
US20080004523A1 (en) | 2006-06-29 | 2008-01-03 | General Electric Company | Surgical tool guide |
DE102006032127B4 (en) | 2006-07-05 | 2008-04-30 | Aesculap Ag & Co. Kg | Calibration method and calibration device for a surgical referencing unit |
US20080013809A1 (en) | 2006-07-14 | 2008-01-17 | Bracco Imaging, Spa | Methods and apparatuses for registration in image guided surgery |
EP1886640B1 (en) | 2006-08-08 | 2009-11-18 | BrainLAB AG | Planning method and system for adjusting a free-shaped bone implant |
EP2053972B1 (en) | 2006-08-17 | 2013-09-11 | Koninklijke Philips Electronics N.V. | Computed tomography image acquisition |
DE102006041033B4 (en) | 2006-09-01 | 2017-01-19 | Siemens Healthcare Gmbh | Method for reconstructing a three-dimensional image volume |
US8231610B2 (en) | 2006-09-06 | 2012-07-31 | National Cancer Center | Robotic surgical system for laparoscopic surgery |
US8532741B2 (en) | 2006-09-08 | 2013-09-10 | Medtronic, Inc. | Method and apparatus to optimize electrode placement for neurological stimulation |
WO2008031077A2 (en) | 2006-09-08 | 2008-03-13 | Hansen Medical, Inc. | Robotic surgical system with forward-oriented field of view guide instrument navigation |
US8150498B2 (en) | 2006-09-08 | 2012-04-03 | Medtronic, Inc. | System for identification of anatomical landmarks |
US8150497B2 (en) | 2006-09-08 | 2012-04-03 | Medtronic, Inc. | System for navigating a planned procedure within a body |
US8248413B2 (en) | 2006-09-18 | 2012-08-21 | Stryker Corporation | Visual navigation system for endoscopic surgery |
KR101525259B1 (en) | 2006-09-25 | 2015-06-02 | 메이저 로보틱스 엘티디. | C―arm computerized tomography system |
US8660635B2 (en) | 2006-09-29 | 2014-02-25 | Medtronic, Inc. | Method and apparatus for optimizing a computer assisted surgical procedure |
US8052688B2 (en) | 2006-10-06 | 2011-11-08 | Wolf Ii Erich | Electromagnetic apparatus and method for nerve localization during spinal surgery |
US20080144906A1 (en) | 2006-10-09 | 2008-06-19 | General Electric Company | System and method for video capture for fluoroscopy and navigation |
US20080109012A1 (en) | 2006-11-03 | 2008-05-08 | General Electric Company | System, method and apparatus for tableside remote connections of medical instruments and systems using wireless communications |
US8551114B2 (en) | 2006-11-06 | 2013-10-08 | Human Robotics S.A. De C.V. | Robotic surgical device |
US20080108912A1 (en) | 2006-11-07 | 2008-05-08 | General Electric Company | System and method for measurement of clinical parameters of the knee for use during knee replacement surgery |
US20080108991A1 (en) | 2006-11-08 | 2008-05-08 | General Electric Company | Method and apparatus for performing pedicle screw fusion surgery |
US8682413B2 (en) | 2006-11-15 | 2014-03-25 | General Electric Company | Systems and methods for automated tracker-driven image selection |
US7935130B2 (en) | 2006-11-16 | 2011-05-03 | Intuitive Surgical Operations, Inc. | Two-piece end-effectors for robotic surgical tools |
EP2081494B1 (en) | 2006-11-16 | 2018-07-11 | Vanderbilt University | System and method of compensating for organ deformation |
US8727618B2 (en) | 2006-11-22 | 2014-05-20 | Siemens Aktiengesellschaft | Robotic device and method for trauma patient diagnosis and therapy |
US7835557B2 (en) | 2006-11-28 | 2010-11-16 | Medtronic Navigation, Inc. | System and method for detecting status of imaging device |
US8320991B2 (en) | 2006-12-01 | 2012-11-27 | Medtronic Navigation Inc. | Portable electromagnetic navigation system |
US7683332B2 (en) | 2006-12-08 | 2010-03-23 | Rush University Medical Center | Integrated single photon emission computed tomography (SPECT)/transmission computed tomography (TCT) system for cardiac imaging |
US7683331B2 (en) | 2006-12-08 | 2010-03-23 | Rush University Medical Center | Single photon emission computed tomography (SPECT) system for cardiac imaging |
US8556807B2 (en) | 2006-12-21 | 2013-10-15 | Intuitive Surgical Operations, Inc. | Hermetically sealed distal sensor endoscope |
DE102006061178A1 (en) | 2006-12-22 | 2008-06-26 | Siemens Ag | Medical system for carrying out and monitoring a minimal invasive intrusion, especially for treating electro-physiological diseases, has X-ray equipment and a control/evaluation unit |
US20080177203A1 (en) | 2006-12-22 | 2008-07-24 | General Electric Company | Surgical navigation planning system and method for placement of percutaneous instrumentation and implants |
US20080161680A1 (en) | 2006-12-29 | 2008-07-03 | General Electric Company | System and method for surgical navigation of motion preservation prosthesis |
US9220573B2 (en) | 2007-01-02 | 2015-12-29 | Medtronic Navigation, Inc. | System and method for tracking positions of uniform marker geometries |
US8684253B2 (en) | 2007-01-10 | 2014-04-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor |
US8374673B2 (en) | 2007-01-25 | 2013-02-12 | Warsaw Orthopedic, Inc. | Integrated surgical navigational and neuromonitoring system having automated surgical assistance and control |
CA2920567C (en) | 2007-02-01 | 2019-03-05 | Ravish V. Patwardhan | Surgical navigation system for guiding an access member |
US20080195081A1 (en) | 2007-02-02 | 2008-08-14 | Hansen Medical, Inc. | Spinal surgery methods using a robotic instrument system |
US8600478B2 (en) | 2007-02-19 | 2013-12-03 | Medtronic Navigation, Inc. | Automatic identification of instruments used with a surgical navigation system |
US8233963B2 (en) | 2007-02-19 | 2012-07-31 | Medtronic Navigation, Inc. | Automatic identification of tracked surgical devices using an electromagnetic localization system |
DE102007009017B3 (en) | 2007-02-23 | 2008-09-25 | Siemens Ag | Arrangement for supporting a percutaneous procedure |
US10039613B2 (en) | 2007-03-01 | 2018-08-07 | Surgical Navigation Technologies, Inc. | Method for localizing an imaging device with a surgical navigation system |
US8098914B2 (en) | 2007-03-05 | 2012-01-17 | Siemens Aktiengesellschaft | Registration of CT volumes with fluoroscopic images |
US20080228068A1 (en) | 2007-03-13 | 2008-09-18 | Viswanathan Raju R | Automated Surgical Navigation with Electro-Anatomical and Pre-Operative Image Data |
US8821511B2 (en) | 2007-03-15 | 2014-09-02 | General Electric Company | Instrument guide for use with a surgical navigation system |
US20080235052A1 (en) | 2007-03-19 | 2008-09-25 | General Electric Company | System and method for sharing medical information between image-guided surgery systems |
US8150494B2 (en) | 2007-03-29 | 2012-04-03 | Medtronic Navigation, Inc. | Apparatus for registering a physical space to image space |
US7879045B2 (en) | 2007-04-10 | 2011-02-01 | Medtronic, Inc. | System for guiding instruments having different sizes |
US8738181B2 (en) | 2007-04-16 | 2014-05-27 | Alexander Greer | Methods, devices, and systems for automated movements involving medical robots |
US8560118B2 (en) | 2007-04-16 | 2013-10-15 | Neuroarm Surgical Ltd. | Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis |
US8108025B2 (en) | 2007-04-24 | 2012-01-31 | Medtronic, Inc. | Flexible array for use in navigated surgery |
US20090012509A1 (en) | 2007-04-24 | 2009-01-08 | Medtronic, Inc. | Navigated Soft Tissue Penetrating Laser System |
US8010177B2 (en) | 2007-04-24 | 2011-08-30 | Medtronic, Inc. | Intraoperative image registration |
US8301226B2 (en) | 2007-04-24 | 2012-10-30 | Medtronic, Inc. | Method and apparatus for performing a navigated procedure |
US8311611B2 (en) | 2007-04-24 | 2012-11-13 | Medtronic, Inc. | Method for performing multiple registrations in a navigated procedure |
US8062364B1 (en) | 2007-04-27 | 2011-11-22 | Knee Creations, Llc | Osteoarthritis treatment and device |
DE102007022122B4 (en) | 2007-05-11 | 2019-07-11 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Gripping device for a surgery robot arrangement |
US8057397B2 (en) | 2007-05-16 | 2011-11-15 | General Electric Company | Navigation and imaging system sychronized with respiratory and/or cardiac activity |
US20080287771A1 (en) | 2007-05-17 | 2008-11-20 | General Electric Company | Surgical navigation system with electrostatic shield |
US8934961B2 (en) | 2007-05-18 | 2015-01-13 | Biomet Manufacturing, Llc | Trackable diagnostic scope apparatus and methods of use |
US20080300477A1 (en) | 2007-05-30 | 2008-12-04 | General Electric Company | System and method for correction of automated image registration |
US20080300478A1 (en) | 2007-05-30 | 2008-12-04 | General Electric Company | System and method for displaying real-time state of imaged anatomy during a surgical procedure |
US9096033B2 (en) | 2007-06-13 | 2015-08-04 | Intuitive Surgical Operations, Inc. | Surgical system instrument sterile adapter |
US9468412B2 (en) | 2007-06-22 | 2016-10-18 | General Electric Company | System and method for accuracy verification for image based surgical navigation |
WO2009014917A2 (en) | 2007-07-12 | 2009-01-29 | Board Of Regents Of The University Of Nebraska | Methods and systems of actuation in robotic devices |
US7834484B2 (en) | 2007-07-16 | 2010-11-16 | Tyco Healthcare Group Lp | Connection cable and method for activating a voltage-controlled generator |
JP2009045428A (en) | 2007-07-25 | 2009-03-05 | Terumo Corp | Operating mechanism, medical manipulator and surgical robot system |
WO2009018086A2 (en) | 2007-07-27 | 2009-02-05 | The Cleveland Clinic Foundation | Oblique lumbar interbody fusion |
US8035685B2 (en) | 2007-07-30 | 2011-10-11 | General Electric Company | Systems and methods for communicating video data between a mobile imaging system and a fixed monitor system |
US8328818B1 (en) | 2007-08-31 | 2012-12-11 | Globus Medical, Inc. | Devices and methods for treating bone |
WO2009039428A2 (en) | 2007-09-19 | 2009-03-26 | Roberts Walter A | Direct visualization robotic intra-operative radiation therapy applicator device |
US20090080737A1 (en) | 2007-09-25 | 2009-03-26 | General Electric Company | System and Method for Use of Fluoroscope and Computed Tomography Registration for Sinuplasty Navigation |
US8224484B2 (en) | 2007-09-30 | 2012-07-17 | Intuitive Surgical Operations, Inc. | Methods of user interface with alternate tool mode for robotic surgical tools |
US9522046B2 (en) | 2010-08-23 | 2016-12-20 | Gip | Robotic surgery system |
EP2217147B1 (en) | 2007-11-06 | 2012-06-27 | Koninklijke Philips Electronics N.V. | Nuclear medicine spect-ct machine with integrated asymmetric flat panel cone-beam ct and spect system |
DE102007055203A1 (en) | 2007-11-19 | 2009-05-20 | Kuka Roboter Gmbh | A robotic device, medical workstation and method for registering an object |
US8561473B2 (en) | 2007-12-18 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
EP2224852A1 (en) | 2007-12-21 | 2010-09-08 | Koninklijke Philips Electronics N.V. | Synchronous interventional scanner |
US8400094B2 (en) | 2007-12-21 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Robotic surgical system with patient support |
US8864798B2 (en) | 2008-01-18 | 2014-10-21 | Globus Medical, Inc. | Transverse connector |
WO2009097539A2 (en) | 2008-01-30 | 2009-08-06 | The Trustees Of Columbia University In The City Of New York | Systems, devices, and methods for robot-assisted micro-surgical stenting |
US20090198121A1 (en) | 2008-02-01 | 2009-08-06 | Martin Hoheisel | Method and apparatus for coordinating contrast agent injection and image acquisition in c-arm computed tomography |
US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
US8696458B2 (en) | 2008-02-15 | 2014-04-15 | Thales Visionix, Inc. | Motion tracking system and method using camera and non-camera sensors |
US7925653B2 (en) | 2008-02-27 | 2011-04-12 | General Electric Company | Method and system for accessing a group of objects in an electronic document |
US20090228019A1 (en) | 2008-03-10 | 2009-09-10 | Yosef Gross | Robotic surgical system |
US8282653B2 (en) | 2008-03-24 | 2012-10-09 | Board Of Regents Of The University Of Nebraska | System and methods for controlling surgical tool elements |
US8808164B2 (en) | 2008-03-28 | 2014-08-19 | Intuitive Surgical Operations, Inc. | Controlling a robotic surgical tool with a display monitor |
ES2569501T3 (en) | 2008-03-28 | 2016-05-11 | Telefonaktiebolaget Lm Ericsson (Publ) | Identification of a manipulated or defective base station during a handover |
US7886743B2 (en) | 2008-03-31 | 2011-02-15 | Intuitive Surgical Operations, Inc. | Sterile drape interface for robotic surgical instrument |
US7843158B2 (en) | 2008-03-31 | 2010-11-30 | Intuitive Surgical Operations, Inc. | Medical robotic system adapted to inhibit motions resulting in excessive end effector forces |
US8333755B2 (en) | 2008-03-31 | 2012-12-18 | Intuitive Surgical Operations, Inc. | Coupler to transfer controller motion from a robotic manipulator to an attached instrument |
US9002076B2 (en) | 2008-04-15 | 2015-04-07 | Medtronic, Inc. | Method and apparatus for optimal trajectory planning |
US9345875B2 (en) | 2008-04-17 | 2016-05-24 | Medtronic, Inc. | Method and apparatus for cannula fixation for an array insertion tube set |
US8169468B2 (en) | 2008-04-26 | 2012-05-01 | Intuitive Surgical Operations, Inc. | Augmented stereoscopic visualization for a surgical robot |
ES2764964T3 (en) | 2008-04-30 | 2020-06-05 | Nanosys Inc | Dirt-resistant surfaces for reflective spheres |
US9579161B2 (en) | 2008-05-06 | 2017-02-28 | Medtronic Navigation, Inc. | Method and apparatus for tracking a patient |
US20110022229A1 (en) | 2008-06-09 | 2011-01-27 | Bae Sang Jang | Master interface and driving method of surgical robot |
TW201004607A (en) | 2008-07-25 | 2010-02-01 | Been-Der Yang | Image guided navigation system and method thereof |
US8054184B2 (en) | 2008-07-31 | 2011-11-08 | Intuitive Surgical Operations, Inc. | Identification of surgical instrument attached to surgical robot |
US8771170B2 (en) | 2008-08-01 | 2014-07-08 | Microaccess, Inc. | Methods and apparatus for transesophageal microaccess surgery |
JP2010035984A (en) | 2008-08-08 | 2010-02-18 | Canon Inc | X-ray imaging apparatus |
ES2608820T3 (en) | 2008-08-15 | 2017-04-17 | Stryker European Holdings I, Llc | System and method of visualization of the inside of a body |
EP2323578B1 (en) | 2008-08-18 | 2018-10-03 | Encision, Inc. | Enhanced control systems including flexible shielding and support systems for electrosurgical applications |
DE102008041813B4 (en) | 2008-09-04 | 2013-06-20 | Carl Zeiss Microscopy Gmbh | Method for the depth analysis of an organic sample |
US7900524B2 (en) | 2008-09-09 | 2011-03-08 | Intersense, Inc. | Monitoring tools |
US8165658B2 (en) | 2008-09-26 | 2012-04-24 | Medtronic, Inc. | Method and apparatus for positioning a guide relative to a base |
US8073335B2 (en) | 2008-09-30 | 2011-12-06 | Intuitive Surgical Operations, Inc. | Operator input device for a robotic surgical system |
WO2010041193A2 (en) | 2008-10-10 | 2010-04-15 | Koninklijke Philips Electronics N.V. | Method and apparatus to improve ct image acquisition using a displaced geometry |
KR100944412B1 (en) | 2008-10-13 | 2010-02-25 | (주)미래컴퍼니 | Surgical slave robot |
US8781630B2 (en) | 2008-10-14 | 2014-07-15 | University Of Florida Research Foundation, Inc. | Imaging platform to provide integrated navigation capabilities for surgical guidance |
CN102238916B (en) | 2008-10-20 | 2013-12-04 | 约翰霍普金斯大学 | Environment property estimation and graphical display |
EP2455038B1 (en) | 2008-10-21 | 2015-04-01 | Brainlab AG | Integration of surgical instrument and display device for supporting image led surgery |
KR101075363B1 (en) | 2008-10-31 | 2011-10-19 | 정창욱 | Surgical Robot System Having Tool for Minimally Invasive Surgery |
US8798932B2 (en) | 2008-10-31 | 2014-08-05 | The Invention Science Fund I, Llc | Frozen compositions and methods for piercing a substrate |
US9033958B2 (en) | 2008-11-11 | 2015-05-19 | Perception Raisonnement Action En Medecine | Surgical robotic system |
TWI435705B (en) | 2008-11-20 | 2014-05-01 | Been Der Yang | Surgical position device and image guided navigation system using the same |
US8787520B2 (en) | 2008-11-27 | 2014-07-22 | Hitachi Medical Corporation | Radiation imaging device |
US8483800B2 (en) | 2008-11-29 | 2013-07-09 | General Electric Company | Surgical navigation enabled imaging table environment |
CN102300512B (en) | 2008-12-01 | 2016-01-20 | 马佐尔机器人有限公司 | The sloped-spine stabilisation that robot guides |
ES2341079B1 (en) | 2008-12-11 | 2011-07-13 | Fundacio Clinic Per A La Recerca Biomedica | EQUIPMENT FOR IMPROVED VISION BY INFRARED VASCULAR STRUCTURES, APPLICABLE TO ASSIST PHYTOSCOPIC, LAPAROSCOPIC AND ENDOSCOPIC INTERVENTIONS AND SIGNAL TREATMENT PROCESS TO IMPROVE SUCH VISION. |
US8021393B2 (en) | 2008-12-12 | 2011-09-20 | Globus Medical, Inc. | Lateral spinous process spacer with deployable wings |
US8830224B2 (en) | 2008-12-31 | 2014-09-09 | Intuitive Surgical Operations, Inc. | Efficient 3-D telestration for local robotic proctoring |
US8594841B2 (en) | 2008-12-31 | 2013-11-26 | Intuitive Surgical Operations, Inc. | Visual force feedback in a minimally invasive surgical procedure |
US8184880B2 (en) | 2008-12-31 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Robust sparse image matching for robotic surgery |
US8374723B2 (en) | 2008-12-31 | 2013-02-12 | Intuitive Surgical Operations, Inc. | Obtaining force information in a minimally invasive surgical procedure |
CN102325499B (en) | 2009-01-21 | 2014-07-16 | 皇家飞利浦电子股份有限公司 | Method and apparatus for large field of view imaging and detection and compensation of motion artifacts |
EP2381877B1 (en) | 2009-01-29 | 2018-02-28 | Imactis | Method and device for navigation of a surgical tool |
KR101038417B1 (en) | 2009-02-11 | 2011-06-01 | 주식회사 이턴 | Surgical robot system and control method thereof |
US9737235B2 (en) | 2009-03-09 | 2017-08-22 | Medtronic Navigation, Inc. | System and method for image-guided navigation |
US8918207B2 (en) | 2009-03-09 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Operator input device for a robotic surgical system |
US8120301B2 (en) | 2009-03-09 | 2012-02-21 | Intuitive Surgical Operations, Inc. | Ergonomic surgeon control console in robotic surgical systems |
US8418073B2 (en) | 2009-03-09 | 2013-04-09 | Intuitive Surgical Operations, Inc. | User interfaces for electrosurgical tools in robotic surgical systems |
US20120053597A1 (en) | 2009-03-10 | 2012-03-01 | Mcmaster University | Mobile robotic surgical system |
US8335552B2 (en) | 2009-03-20 | 2012-12-18 | Medtronic, Inc. | Method and apparatus for instrument placement |
CN105342705A (en) | 2009-03-24 | 2016-02-24 | 伊顿株式会社 | Surgical robot system using augmented reality, and method for controlling same |
US20100249571A1 (en) | 2009-03-31 | 2010-09-30 | General Electric Company | Surgical navigation system with wireless magnetoresistance tracking sensors |
US8882803B2 (en) | 2009-04-01 | 2014-11-11 | Globus Medical, Inc. | Orthopedic clamp and extension rod |
US20100280363A1 (en) | 2009-04-24 | 2010-11-04 | Medtronic, Inc. | Electromagnetic Navigation of Medical Instruments for Cardiothoracic Surgery |
AU2010259131B2 (en) | 2009-05-18 | 2012-11-22 | Teleflex Medical Incorporated | Method and devices for performing minimally invasive surgery |
ES2388029B1 (en) | 2009-05-22 | 2013-08-13 | Universitat Politècnica De Catalunya | ROBOTIC SYSTEM FOR LAPAROSCOPIC SURGERY. |
CN101897593B (en) | 2009-05-26 | 2014-08-13 | 清华大学 | Computer chromatography imaging device and method |
WO2010141839A2 (en) | 2009-06-04 | 2010-12-09 | Virginia Tech Intellectual Properties, Inc. | Multi-parameter x-ray computed tomography |
WO2011013164A1 (en) | 2009-07-27 | 2011-02-03 | 株式会社島津製作所 | Radiographic apparatus |
BR212012002342U2 (en) | 2009-08-06 | 2015-11-03 | Koninkl Philips Electronics Nv | method of imaging an object using an imaging apparatus having a detector, medical imaging apparatus adapted to image an object, and combined x-ray and spect imaging system |
WO2011021192A1 (en) | 2009-08-17 | 2011-02-24 | Mazor Surgical Technologies Ltd. | Device for improving the accuracy of manual operations |
US9844414B2 (en) | 2009-08-31 | 2017-12-19 | Gregory S. Fischer | System and method for robotic surgical intervention in a magnetic resonance imager |
EP2298223A1 (en) | 2009-09-21 | 2011-03-23 | Stryker Leibinger GmbH & Co. KG | Technique for registering image data of an object |
US8465476B2 (en) | 2009-09-23 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Cannula mounting fixture |
US9044269B2 (en) | 2009-09-30 | 2015-06-02 | Brainlab Ag | Two-part medical tracking marker |
NL1037348C2 (en) | 2009-10-02 | 2011-04-05 | Univ Eindhoven Tech | Surgical robot, instrument manipulator, combination of an operating table and a surgical robot, and master-slave operating system. |
US8556979B2 (en) | 2009-10-15 | 2013-10-15 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
US8679183B2 (en) | 2010-06-25 | 2014-03-25 | Globus Medical | Expandable fusion device and method of installation thereof |
US8062375B2 (en) | 2009-10-15 | 2011-11-22 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
US8685098B2 (en) | 2010-06-25 | 2014-04-01 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
US20110098553A1 (en) | 2009-10-28 | 2011-04-28 | Steven Robbins | Automatic registration of images for image guided surgery |
USD631966S1 (en) | 2009-11-10 | 2011-02-01 | Globus Medical, Inc. | Basilar invagination implant |
US8521331B2 (en) | 2009-11-13 | 2013-08-27 | Intuitive Surgical Operations, Inc. | Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument |
US20110137152A1 (en) | 2009-12-03 | 2011-06-09 | General Electric Company | System and method for cooling components of a surgical navigation system |
US8277509B2 (en) | 2009-12-07 | 2012-10-02 | Globus Medical, Inc. | Transforaminal prosthetic spinal disc apparatus |
CN102651998B (en) | 2009-12-10 | 2015-08-05 | 皇家飞利浦电子股份有限公司 | For the scanning system of differential contrast imaging |
US8694075B2 (en) | 2009-12-21 | 2014-04-08 | General Electric Company | Intra-operative registration for navigated surgical procedures |
US8353963B2 (en) | 2010-01-12 | 2013-01-15 | Globus Medical | Expandable spacer and method for use thereof |
US9381045B2 (en) | 2010-01-13 | 2016-07-05 | Jcbd, Llc | Sacroiliac joint implant and sacroiliac joint instrument for fusing a sacroiliac joint |
BR112012016973A2 (en) | 2010-01-13 | 2017-09-26 | Koninl Philips Electronics Nv | surgical navigation system for integrating a plurality of images of an anatomical region of a body, including a digitized preoperative image, a fluoroscopic intraoperative image, and an endoscopic intraoperative image |
WO2011085814A1 (en) | 2010-01-14 | 2011-07-21 | Brainlab Ag | Controlling and/or operating a medical device by means of a light pointer |
US9039769B2 (en) | 2010-03-17 | 2015-05-26 | Globus Medical, Inc. | Intervertebral nucleus and annulus implants and method of use thereof |
US20110238080A1 (en) | 2010-03-25 | 2011-09-29 | Date Ranjit | Robotic Surgical Instrument System |
US20140330288A1 (en) | 2010-03-25 | 2014-11-06 | Precision Automation And Robotics India Ltd. | Articulating Arm for a Robotic Surgical Instrument System |
IT1401669B1 (en) | 2010-04-07 | 2013-08-02 | Sofar Spa | ROBOTIC SURGERY SYSTEM WITH PERFECT CONTROL. |
US8870880B2 (en) | 2010-04-12 | 2014-10-28 | Globus Medical, Inc. | Angling inserter tool for expandable vertebral implant |
IT1399603B1 (en) | 2010-04-26 | 2013-04-26 | Scuola Superiore Di Studi Universitari E Di Perfez | ROBOTIC SYSTEM FOR MINIMUM INVASIVE SURGERY INTERVENTIONS |
US8717430B2 (en) | 2010-04-26 | 2014-05-06 | Medtronic Navigation, Inc. | System and method for radio-frequency imaging, registration, and localization |
CA2797302C (en) | 2010-04-28 | 2019-01-15 | Ryerson University | System and methods for intraoperative guidance feedback |
WO2012169990A2 (en) | 2010-05-04 | 2012-12-13 | Pathfinder Therapeutics, Inc. | System and method for abdominal surface matching using pseudo-features |
US8738115B2 (en) | 2010-05-11 | 2014-05-27 | Siemens Aktiengesellschaft | Method and apparatus for selective internal radiation therapy planning and implementation |
DE102010020284A1 (en) | 2010-05-12 | 2011-11-17 | Siemens Aktiengesellschaft | Determination of 3D positions and orientations of surgical objects from 2D X-ray images |
US8603077B2 (en) | 2010-05-14 | 2013-12-10 | Intuitive Surgical Operations, Inc. | Force transmission for robotic surgical instrument |
US8883210B1 (en) | 2010-05-14 | 2014-11-11 | Musculoskeletal Transplant Foundation | Tissue-derived tissuegenic implants, and methods of fabricating and using same |
KR101181569B1 (en) | 2010-05-25 | 2012-09-10 | 정창욱 | Surgical robot system capable of implementing both of single port surgery mode and multi-port surgery mode and method for controlling same |
US20110295370A1 (en) | 2010-06-01 | 2011-12-01 | Sean Suh | Spinal Implants and Methods of Use Thereof |
DE102010026674B4 (en) | 2010-07-09 | 2012-09-27 | Siemens Aktiengesellschaft | Imaging device and radiotherapy device |
US8675939B2 (en) | 2010-07-13 | 2014-03-18 | Stryker Leibinger Gmbh & Co. Kg | Registration of anatomical data sets |
EP2593922A1 (en) | 2010-07-14 | 2013-05-22 | BrainLAB AG | Method and system for determining an imaging direction and calibration of an imaging apparatus |
US20120035507A1 (en) | 2010-07-22 | 2012-02-09 | Ivan George | Device and method for measuring anatomic geometries |
US8740882B2 (en) | 2010-07-30 | 2014-06-03 | Lg Electronics Inc. | Medical robotic system and method of controlling the same |
US8696549B2 (en) | 2010-08-20 | 2014-04-15 | Veran Medical Technologies, Inc. | Apparatus and method for four dimensional soft tissue navigation in endoscopic applications |
JP2012045278A (en) | 2010-08-30 | 2012-03-08 | Fujifilm Corp | X-ray imaging apparatus and x-ray imaging method |
WO2012030304A1 (en) | 2010-09-01 | 2012-03-08 | Agency For Science, Technology And Research | A robotic device for use in image-guided robot assisted surgical training |
KR20120030174A (en) | 2010-09-17 | 2012-03-28 | 삼성전자주식회사 | Surgery robot system and surgery apparatus and method for providing tactile feedback |
EP2431003B1 (en) | 2010-09-21 | 2018-03-21 | Medizinische Universität Innsbruck | Registration device, system, kit and method for a patient registration |
US8679125B2 (en) | 2010-09-22 | 2014-03-25 | Biomet Manufacturing, Llc | Robotic guided femoral head reshaping |
US8657809B2 (en) | 2010-09-29 | 2014-02-25 | Stryker Leibinger Gmbh & Co., Kg | Surgical navigation system |
US8718346B2 (en) | 2011-10-05 | 2014-05-06 | Saferay Spine Llc | Imaging system and method for use in surgical and interventional medical procedures |
US8526700B2 (en) | 2010-10-06 | 2013-09-03 | Robert E. Isaacs | Imaging system and method for surgical and interventional medical procedures |
US9913693B2 (en) | 2010-10-29 | 2018-03-13 | Medtronic, Inc. | Error correction techniques in surgical navigation |
EP2651295A4 (en) | 2010-12-13 | 2015-11-18 | Ortho Kinematics Inc | Methods, systems and devices for clinical data reporting and surgical navigation |
US8876866B2 (en) | 2010-12-13 | 2014-11-04 | Globus Medical, Inc. | Spinous process fusion devices and methods thereof |
EP2654574B1 (en) | 2010-12-22 | 2017-05-03 | ViewRay Technologies, Inc. | System and method for image guidance during medical procedures |
EP2663252A1 (en) | 2011-01-13 | 2013-11-20 | Koninklijke Philips N.V. | Intraoperative camera calibration for endoscopic surgery |
KR101181613B1 (en) | 2011-02-21 | 2012-09-10 | 윤상진 | Surgical robot system for performing surgery based on displacement information determined by user designation and control method therefor |
US20120226145A1 (en) | 2011-03-03 | 2012-09-06 | National University Of Singapore | Transcutaneous robot-assisted ablation-device insertion navigation system |
US9026247B2 (en) | 2011-03-30 | 2015-05-05 | University of Washington through its Center for Communication | Motion and video capture for tracking and evaluating robotic surgery and associated systems and methods |
WO2012131660A1 (en) | 2011-04-01 | 2012-10-04 | Ecole Polytechnique Federale De Lausanne (Epfl) | Robotic system for spinal and other surgeries |
US20120256092A1 (en) | 2011-04-06 | 2012-10-11 | General Electric Company | Ct system for use in multi-modality imaging system |
US20150213633A1 (en) | 2011-04-06 | 2015-07-30 | The Trustees Of Columbia University In The City Of New York | System, method and computer-accessible medium for providing a panoramic cone beam computed tomography (cbct) |
US10426554B2 (en) | 2011-04-29 | 2019-10-01 | The Johns Hopkins University | System and method for tracking and navigation |
WO2012169642A1 (en) | 2011-06-06 | 2012-12-13 | 株式会社大野興業 | Method for manufacturing registration template |
US8498744B2 (en) | 2011-06-30 | 2013-07-30 | Mako Surgical Corporation | Surgical robotic systems with manual and haptic and/or active control modes |
CA3082073C (en) | 2011-07-11 | 2023-07-25 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
US8818105B2 (en) | 2011-07-14 | 2014-08-26 | Accuray Incorporated | Image registration for image-guided surgery |
KR20130015146A (en) | 2011-08-02 | 2013-02-13 | 삼성전자주식회사 | Method and apparatus for processing medical image, robotic surgery system using image guidance |
US10866783B2 (en) | 2011-08-21 | 2020-12-15 | Transenterix Europe S.A.R.L. | Vocally activated surgical control system |
US9427330B2 (en) | 2011-09-06 | 2016-08-30 | Globus Medical, Inc. | Spinal plate |
US8864833B2 (en) | 2011-09-30 | 2014-10-21 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
US9060794B2 (en) | 2011-10-18 | 2015-06-23 | Mako Surgical Corp. | System and method for robotic surgery |
US8894688B2 (en) | 2011-10-27 | 2014-11-25 | Globus Medical Inc. | Adjustable rod devices and methods of using the same |
DE102011054910B4 (en) | 2011-10-28 | 2013-10-10 | Ovesco Endoscopy Ag | Magnetic end effector and means for guiding and positioning same |
US8693730B2 (en) | 2011-11-15 | 2014-04-08 | Macdonald Dettwiler & Associates Inc. | Method of real-time tracking of moving/flexible surfaces |
FR2983059B1 (en) | 2011-11-30 | 2014-11-28 | Medtech | ROBOTIC-ASSISTED METHOD OF POSITIONING A SURGICAL INSTRUMENT IN RELATION TO THE BODY OF A PATIENT AND DEVICE FOR CARRYING OUT SAID METHOD |
EP2787910B1 (en) | 2011-12-05 | 2022-08-03 | Mazor Robotics Ltd. | Active bed mount for surgical robot |
KR101901580B1 (en) | 2011-12-23 | 2018-09-28 | 삼성전자주식회사 | Surgical robot and control method thereof |
US9265583B2 (en) | 2011-12-30 | 2016-02-23 | Mako Surgical Corp. | Method for image-based robotic surgery |
FR2985167A1 (en) | 2011-12-30 | 2013-07-05 | Medtech | ROBOTISE MEDICAL METHOD FOR MONITORING PATIENT BREATHING AND CORRECTION OF ROBOTIC TRAJECTORY. |
ES2648762T3 (en) | 2011-12-30 | 2018-01-05 | Mako Surgical Corp. | System for robotic surgery based on images |
KR20130080909A (en) | 2012-01-06 | 2013-07-16 | 삼성전자주식회사 | Surgical robot and method for controlling the same |
US9138297B2 (en) | 2012-02-02 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Systems and methods for controlling a robotic surgical system |
US10249036B2 (en) | 2012-02-22 | 2019-04-02 | Veran Medical Technologies, Inc. | Surgical catheter having side exiting medical instrument and related systems and methods for four dimensional soft tissue navigation |
US11207132B2 (en) | 2012-03-12 | 2021-12-28 | Nuvasive, Inc. | Systems and methods for performing spinal surgery |
US8855822B2 (en) | 2012-03-23 | 2014-10-07 | Innovative Surgical Solutions, Llc | Robotic surgical system with mechanomyography feedback |
KR101946000B1 (en) | 2012-03-28 | 2019-02-08 | 삼성전자주식회사 | Robot system and Control Method thereof for surgery |
US8888821B2 (en) | 2012-04-05 | 2014-11-18 | Warsaw Orthopedic, Inc. | Spinal implant measuring system and method |
JP2015521056A (en) | 2012-04-16 | 2015-07-27 | ニューロロジカ・コーポレーション | Wireless imaging system |
WO2013158655A1 (en) | 2012-04-16 | 2013-10-24 | Neurologica Corp. | Imaging system with rigidly mounted fiducial markers |
US10383765B2 (en) | 2012-04-24 | 2019-08-20 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
US20140142591A1 (en) | 2012-04-24 | 2014-05-22 | Auris Surgical Robotics, Inc. | Method, apparatus and a system for robotic assisted surgery |
US9020613B2 (en) | 2012-05-01 | 2015-04-28 | The Johns Hopkins University | Method and apparatus for robotically assisted cochlear implant surgery |
US20140234804A1 (en) | 2012-05-02 | 2014-08-21 | Eped Inc. | Assisted Guidance and Navigation Method in Intraoral Surgery |
US9125556B2 (en) | 2012-05-14 | 2015-09-08 | Mazor Robotics Ltd. | Robotic guided endoscope |
EP2849650A4 (en) | 2012-05-18 | 2016-01-20 | Carestream Health Inc | Cone beam computed tomography volumetric imaging system |
KR20130132109A (en) | 2012-05-25 | 2013-12-04 | 삼성전자주식회사 | Supporting device and surgical robot system adopting the same |
KR102309822B1 (en) | 2012-06-01 | 2021-10-08 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | Multiport surgical robotic system architecture |
US20130345757A1 (en) | 2012-06-22 | 2013-12-26 | Shawn D. Stad | Image Guided Intra-Operative Contouring Aid |
US9010214B2 (en) | 2012-06-22 | 2015-04-21 | Board Of Regents Of The University Of Nebraska | Local control robotic surgical devices and related methods |
US20140001234A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Coupling arrangements for attaching surgical end effectors to drive systems therefor |
US8880223B2 (en) | 2012-07-16 | 2014-11-04 | Florida Institute for Human & Maching Cognition | Anthro-centric multisensory interface for sensory augmentation of telesurgery |
US20140031664A1 (en) | 2012-07-30 | 2014-01-30 | Mako Surgical Corp. | Radiographic imaging device |
KR101997566B1 (en) | 2012-08-07 | 2019-07-08 | 삼성전자주식회사 | Surgical robot system and control method thereof |
US9770305B2 (en) | 2012-08-08 | 2017-09-26 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
JP2015526171A (en) | 2012-08-08 | 2015-09-10 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | Robotic surgical device, system and related methods |
US10110785B2 (en) | 2012-08-10 | 2018-10-23 | Karl Storz Imaging, Inc. | Deployable imaging system equipped with solid state imager |
WO2014028703A1 (en) | 2012-08-15 | 2014-02-20 | Intuitive Surgical Operations, Inc. | Systems and methods for cancellation of joint motion using the null-space |
EP2887903A4 (en) | 2012-08-24 | 2016-06-08 | Univ Houston System | Robotic device and systems for image-guided and robot-assisted surgery |
US20140080086A1 (en) | 2012-09-20 | 2014-03-20 | Roger Chen | Image Navigation Integrated Dental Implant System |
US8892259B2 (en) | 2012-09-26 | 2014-11-18 | Innovative Surgical Solutions, LLC. | Robotic surgical system with mechanomyography feedback |
US9757160B2 (en) | 2012-09-28 | 2017-09-12 | Globus Medical, Inc. | Device and method for treatment of spinal deformity |
KR102038632B1 (en) | 2012-11-06 | 2019-10-30 | 삼성전자주식회사 | surgical instrument, supporting device, and surgical robot system adopting the same |
US20140130810A1 (en) | 2012-11-14 | 2014-05-15 | Intuitive Surgical Operations, Inc. | Smart drapes for collision avoidance |
KR102079945B1 (en) | 2012-11-22 | 2020-02-21 | 삼성전자주식회사 | Surgical robot and method for controlling the surgical robot |
US9393361B2 (en) | 2012-12-14 | 2016-07-19 | Medtronic, Inc. | Method to determine a material distribution |
US9008752B2 (en) | 2012-12-14 | 2015-04-14 | Medtronic, Inc. | Method to determine distribution of a material by an infused magnetic resonance image contrast agent |
DE102012025101A1 (en) | 2012-12-20 | 2014-06-26 | avateramedical GmBH | Active positioning device of a surgical instrument and a surgical robotic system comprising it |
US20150005784A2 (en) | 2012-12-20 | 2015-01-01 | avateramedical GmBH | Device for Supporting and Positioning of a Surgical Instrument and/or an Endoscope for Use in Minimal-Invasive Surgery and a Surgical Robotic System |
US9001962B2 (en) | 2012-12-20 | 2015-04-07 | Triple Ring Technologies, Inc. | Method and apparatus for multiple X-ray imaging applications |
US9002437B2 (en) | 2012-12-27 | 2015-04-07 | General Electric Company | Method and system for position orientation correction in navigation |
CA2896873A1 (en) | 2012-12-31 | 2014-07-03 | Mako Surgical Corp. | System for image-based robotic surgery |
KR20140090374A (en) | 2013-01-08 | 2014-07-17 | 삼성전자주식회사 | Single port surgical robot and control method thereof |
US9788714B2 (en) * | 2014-07-08 | 2017-10-17 | Iarmourholdings, Inc. | Systems and methods using virtual reality or augmented reality environments for the measurement and/or improvement of human vestibulo-ocular performance |
CN103969269B (en) | 2013-01-31 | 2018-09-18 | Ge医疗系统环球技术有限公司 | Method and apparatus for geometric calibration CT scanner |
US20140221819A1 (en) | 2013-02-01 | 2014-08-07 | David SARMENT | Apparatus, system and method for surgical navigation |
CN105101903B (en) | 2013-02-04 | 2018-08-24 | 儿童国家医疗中心 | Mixing control surgical robot systems |
KR20140102465A (en) | 2013-02-14 | 2014-08-22 | 삼성전자주식회사 | Surgical robot and method for controlling the same |
KR102117270B1 (en) | 2013-03-06 | 2020-06-01 | 삼성전자주식회사 | Surgical robot system and method for controlling the same |
KR20140110685A (en) | 2013-03-08 | 2014-09-17 | 삼성전자주식회사 | Method for controlling of single port surgical robot |
KR20140110620A (en) | 2013-03-08 | 2014-09-17 | 삼성전자주식회사 | surgical robot system and operating method thereof |
KR20140112207A (en) | 2013-03-13 | 2014-09-23 | 삼성전자주식회사 | Augmented reality imaging display system and surgical robot system comprising the same |
US9314308B2 (en) | 2013-03-13 | 2016-04-19 | Ethicon Endo-Surgery, Llc | Robotic ultrasonic surgical device with articulating end effector |
KR102119534B1 (en) | 2013-03-13 | 2020-06-05 | 삼성전자주식회사 | Surgical robot and method for controlling the same |
CA2905948C (en) | 2013-03-14 | 2022-01-11 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
US10667883B2 (en) | 2013-03-15 | 2020-06-02 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US9629595B2 (en) | 2013-03-15 | 2017-04-25 | Hansen Medical, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
KR102117273B1 (en) | 2013-03-21 | 2020-06-01 | 삼성전자주식회사 | Surgical robot system and method for controlling the same |
KR20140121581A (en) | 2013-04-08 | 2014-10-16 | 삼성전자주식회사 | Surgical robot system |
KR20140123122A (en) | 2013-04-10 | 2014-10-22 | 삼성전자주식회사 | Surgical Robot and controlling method of thereof |
US9414859B2 (en) | 2013-04-19 | 2016-08-16 | Warsaw Orthopedic, Inc. | Surgical rod measuring system and method |
US8964934B2 (en) | 2013-04-25 | 2015-02-24 | Moshe Ein-Gal | Cone beam CT scanning |
KR20140129702A (en) | 2013-04-30 | 2014-11-07 | 삼성전자주식회사 | Surgical robot system and method for controlling the same |
US20140364720A1 (en) | 2013-06-10 | 2014-12-11 | General Electric Company | Systems and methods for interactive magnetic resonance imaging |
DE102013012397B4 (en) | 2013-07-26 | 2018-05-24 | Rg Mechatronics Gmbh | Surgical robot system |
US10786283B2 (en) | 2013-08-01 | 2020-09-29 | Musc Foundation For Research Development | Skeletal bone fixation mechanism |
US20150085970A1 (en) | 2013-09-23 | 2015-03-26 | General Electric Company | Systems and methods for hybrid scanning |
JP6581973B2 (en) | 2013-10-07 | 2019-09-25 | テクニオン リサーチ アンド ディベロップメント ファンデーション リミテッド | System for needle insertion and steering |
CN110123448A (en) | 2013-10-09 | 2019-08-16 | 纽文思公司 | The method for being designed in art during vertebra program of performing the operation and evaluating spine malformation correction |
US9848922B2 (en) | 2013-10-09 | 2017-12-26 | Nuvasive, Inc. | Systems and methods for performing spine surgery |
ITBO20130599A1 (en) | 2013-10-31 | 2015-05-01 | Cefla Coop | METHOD AND APPARATUS TO INCREASE THE FIELD OF VIEW IN A COMPUTERIZED TOMOGRAPHIC ACQUISITION WITH CONE-BEAM TECHNIQUE |
US20150146847A1 (en) | 2013-11-26 | 2015-05-28 | General Electric Company | Systems and methods for providing an x-ray imaging system with nearly continuous zooming capability |
EP3682837B1 (en) | 2014-03-17 | 2023-09-27 | Intuitive Surgical Operations, Inc. | System and method for breakaway clutching in an articulated arm |
US20150346814A1 (en) * | 2014-05-30 | 2015-12-03 | Vaibhav Thukral | Gaze tracking for one or more users |
CN110367988A (en) | 2014-06-17 | 2019-10-25 | 纽文思公司 | Plan and assess the device of deformity of spinal column correction during vertebra program of performing the operation in operation |
WO2016044574A1 (en) | 2014-09-17 | 2016-03-24 | Intuitive Surgical Operations, Inc. | Systems and methods for utilizing augmented jacobian to control manipulator joint movement |
US10631907B2 (en) | 2014-12-04 | 2020-04-28 | Mazor Robotics Ltd. | Shaper for vertebral fixation rods |
US20160166329A1 (en) | 2014-12-15 | 2016-06-16 | General Electric Company | Tomographic imaging for interventional tool guidance |
EP3878392B1 (en) | 2015-04-15 | 2024-06-12 | Mobius Imaging LLC | Integrated medical imaging and surgical robotic system |
US10180404B2 (en) | 2015-04-30 | 2019-01-15 | Shimadzu Corporation | X-ray analysis device |
US10178150B2 (en) * | 2015-08-07 | 2019-01-08 | International Business Machines Corporation | Eye contact-based information transfer |
US20170143284A1 (en) | 2015-11-25 | 2017-05-25 | Carestream Health, Inc. | Method to detect a retained surgical object |
US10070939B2 (en) | 2015-12-04 | 2018-09-11 | Zaki G. Ibrahim | Methods for performing minimally invasive transforaminal lumbar interbody fusion using guidance |
AU2017210124B2 (en) | 2016-01-22 | 2021-05-20 | Nuvasive, Inc. | Systems and methods for facilitating spine surgery |
US10448910B2 (en) | 2016-02-03 | 2019-10-22 | Globus Medical, Inc. | Portable medical imaging system |
US10842453B2 (en) | 2016-02-03 | 2020-11-24 | Globus Medical, Inc. | Portable medical imaging system |
US11058378B2 (en) | 2016-02-03 | 2021-07-13 | Globus Medical, Inc. | Portable medical imaging system |
US9962133B2 (en) | 2016-03-09 | 2018-05-08 | Medtronic Navigation, Inc. | Transformable imaging system |
US9931025B1 (en) | 2016-09-30 | 2018-04-03 | Auris Surgical Robotics, Inc. | Automated calibration of endoscopes with pull wires |
AU2018277842A1 (en) * | 2017-05-31 | 2019-12-19 | Magic Leap, Inc. | Eye tracking calibration techniques |
GB201709199D0 (en) * | 2017-06-09 | 2017-07-26 | Delamont Dean Lindsay | IR mixed reality and augmented reality gaming system |
US10475415B1 (en) * | 2018-08-20 | 2019-11-12 | Dell Products, L.P. | Strobe tracking of head-mounted displays (HMDs) in virtual, augmented, and mixed reality (xR) applications |
-
2020
- 2020-06-16 US US16/902,715 patent/US11382713B2/en active Active
-
2022
- 2022-06-22 US US17/846,259 patent/US20220313386A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180253145A1 (en) * | 2012-12-19 | 2018-09-06 | Qualcomm Incorporated | Enabling augmented reality using eye gaze tracking |
US20160026253A1 (en) * | 2014-03-11 | 2016-01-28 | Magic Leap, Inc. | Methods and systems for creating virtual and augmented reality |
US20160116741A1 (en) * | 2014-10-27 | 2016-04-28 | Seiko Epson Corporation | Display apparatus and method for controlling display apparatus |
US20190073820A1 (en) * | 2017-09-01 | 2019-03-07 | Mira Labs, Inc. | Ray Tracing System for Optical Headsets |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US12020801B2 (en) | 2018-06-19 | 2024-06-25 | Howmedica Osteonics Corp. | Virtual guidance for orthopedic surgical procedures |
Also Published As
Publication number | Publication date |
---|---|
US20210386503A1 (en) | 2021-12-16 |
US11382713B2 (en) | 2022-07-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11883117B2 (en) | Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums | |
US11382699B2 (en) | Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery | |
US11839435B2 (en) | Extended reality headset tool tracking and control | |
US11510750B2 (en) | Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications | |
US11382713B2 (en) | Navigated surgical system with eye to XR headset display calibration | |
US11690697B2 (en) | Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment | |
US20210169581A1 (en) | Extended reality instrument interaction zone for navigated robotic surgery | |
US11317973B2 (en) | Camera tracking bar for computer assisted navigation during surgery | |
US20210169605A1 (en) | Augmented reality headset for navigated robotic surgery | |
US11607277B2 (en) | Registration of surgical tool with reference array tracked by cameras of an extended reality headset for assisted navigation during surgery | |
EP3922203A1 (en) | Surgical object tracking in visible light via fiducial seeding and synthetic image registration | |
EP3861956A1 (en) | Extended reality instrument interaction zone for navigated robotic surgery | |
US20210251717A1 (en) | Extended reality headset opacity filter for navigated surgery |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: GLOBUS MEDICAL, INC., PENNSYLVANIA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HEALY, WESTON;CALLOWAY, THOMAS;SIGNING DATES FROM 20200625 TO 20200723;REEL/FRAME:060273/0035 |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NON FINAL ACTION MAILED |