IP Library › Granted Patent US 12,220,176
Granted Patent B2
US 12,220,176 · App. 16/781,200 · Granted Feb 11, 2025

Extended reality instrument interaction zone for navigated robotic

Inventors: Thomas Calloway (Pelham, NH); Isaac Dulin (Somerville, MA); Keiichi Matsuda (London, GB); Christine Russ (Stoneham, MA); Keerthighaan Kanagasegar (Norristown, PA); Amelia Raphaelson (Upperville, VA)
A61B34/20A61B34/25A61B34/30G02B27/017G06F3/011A61B2034/2055
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Quick Facts
Patent No.
US 12,220,176
App. No.
16/781,200
Filed
Feb 4, 2020
Granted
Feb 11, 2025
Kind
B2
Art Unit
3797
USPC
345/8
Abstract

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

Claims (39)

1. A surgical system comprising:

an extended reality (“XR”) headset configured to be worn by a user during a surgical procedure and including a see-through display screen configured to display a world-registered XR image including a 3D image of an anatomical structure which is derived from a medical imaging system and to allow at least a portion of a real-world scene including an actual patient to pass therethrough for viewing by the user; and

a tracking system configured to determine a real-world pose of the XR headset and a real-world pose of a real-world element, the real-world pose of the XR headset and the real-world pose of the real-world element being determined relative to a real-world coordinate system; and

an XR headset controller configured to generate the world-registered XR image based on the real-world pose of the XR headset;

wherein the XR headset controller is configured to generate and display on the see-through display screen the world-registered XR image such that the displayed XR image remains in place as a head of the user moves so as to allow the user to simultaneously see the actual patient and the world-registered XR image floating near the patient;

wherein a portion of the real-world coordinate system is interpreted by the XR headset controller as defining an interaction zone;

wherein the XR headset controller is further configured to determine whether the real-world pose of the real-world element is within the interaction zone;

wherein the XR headset controller is configured to respond to a determination that the real-world pose of the real-world element is within the interaction zone by generating the virtual element within the world-registered XR image;

wherein the XR headset further includes a gesture sensor configured to output to the XR headset controller an indication of a hand gesture formed by the user, and

wherein the XR headset controller is further configured to define and/or modify a dimension, a pose, and/or a type of the interaction zone based on the indication of the hand gesture formed by the user.

2. The surgical system of claim 1 , wherein the XR headset controller is further configured to generate the world-registered XR image with a virtual element that is generated based on a characteristic of the real-world element, wherein the virtual element is posed based on the real-world pose of the XR headset to be displayed on the see-through display screen within a field of view of the user.

3. The surgical system of claim 2 , wherein the XR headset controller is configured to generate the world-registered XR image based on the real-world pose of the XR headset with the virtual element of the world-registered XR image being displayed on the see-through display screen with the virtual element having a pose that is maintained to be a constant offset from the real-world pose of the real-world element regardless of the real-world pose of the XR headset.

4. The surgical system of claim 3 , wherein the XR headset controller is further configured to determine user input based on tracking data of the real-world pose of the real-world element,

wherein the XR headset controller is configured to generate the world-registered XR image further based on the user input.

5. The surgical system of claim 1 , wherein the XR headset controller is further configured to communicate with a navigation controller to receive navigation information from the navigation controller which provides guidance to the user during the surgical procedure on an anatomical structure, and

wherein the XR headset controller is configured to generate the world-registered XR image to further include user interface (“UI”) data based on the navigation information for display on the see-through display screen.

6. The surgical system of claim 5 , wherein the interaction zone includes a navigation zone,

wherein the tracking system is further configured to only determine the real-world pose of the real-world element while it is within the navigation zone,

wherein the XR headset controller is configured to generate the world-registered XR image to contain the UI data associated with the virtual element corresponding to the real-world element in response to the real-world element being determined to be within the navigation zone.

7. The surgical system of claim 5 , wherein the interaction zone includes a transition zone,

wherein the XR headset controller is configured to generate the world-registered XR image to further exclude a portion of the UI data in response to the real-world element being determined to be within the transition zone, and

wherein the XR headset controller is configured to generate the world-registered XR image to further include the portion of the UI data in response to the real-world element being determined to be outside the transition zone.

8. The surgical system of claim 5 , wherein the interaction zone includes a warning zone,

wherein the navigation controller is further configured to:

determine that the warning zone includes a projected path of motion of a robot arm in the real-world coordinate system;

determine whether the real-world element is within the warning zone; and

in response to determining that the real-world element is within the warning zone, preventing movement of the robot arm along the projected path,

wherein the XR headset controller is configured to generate the world-registered XR image such that a virtual path associated with the projected path of motion of the robot arm is displayed, and

wherein the XR headset is further configured to output a warning to the user in response to the real-world element being within the warning zone.

9. The surgical system of claim 1 , wherein the interaction zone includes a warning zone,

wherein the XR headset is further configured to output a warning to the user in response to the real-world element being determined to be within the warning zone.

10. The surgical system of claim 1 , wherein the interaction zone includes an exclusion zone, and

wherein the XR headset controller is configured to generate the world-registered XR image such that view of the exclusion zone by the user is unobstructed by the XR image.

11. The surgical system of claim 1 , wherein the interaction zone includes a tool selection zone,

wherein the tracking system is further configured to determine whether a first real-world element is selected and/or deselected based on the first real-world element being determined to be within the tool selection zone,

wherein the tracking system is configured to determine the real-world pose outside of the tool selection zone of only real-world elements that are selected.

12. The surgical system of claim 1 , wherein the interaction zone includes a user interface (“UI”) zone,

wherein the XR headset controller is further configured to modify the world-registered XR image based on manipulation of the real-world pose of the real-world element in response to the real-world pose of the real-world element being determined to be within the UI zone.

13. The surgical system of claim 1 , further comprising an interaction zone controller configured to define a dimension, a pose, and/or a type of the interaction zone based on a type and/or the real-world pose of the real-world element.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Feb 24, 2020
From: CALLOWAY, THOMAS; DULIN, ISAAC; MATSUDA, KEIICHI; RUSS, CHRISTINE; KANAGASEGAR, KEERTHIGHAAN; RAPHAELSON, AMELIA
To: GLOBUS MEDICAL, INC.
Reel/Frame 051905/0001 →
Continuity (2)
Continuation In Part 16709185 · Dec 10, 2019
Related Publication 20210169581A1 · Jun 10, 2021
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