Granted Patent B2

US 12,201,375 · App. 17/476,689 · Granted Jan 21, 2025

Inventors: Michael Robinson (Concord, NH); Thomas Calloway (Pelham, NH); Isaac Dulin (Somerville, MA); Mir Hussain (Downingtown, PA)

Assignee: Globus Medical Inc.

A61B34/20A61B34/25A61B34/30A61B90/361A61B90/37A61B90/50G06F3/017G06T19/00G06V20/46G06V40/107G06V40/28A61B2034/105A61B2034/107A61B2034/2057A61B2034/2065A61B2034/258A61B2090/365A61B2090/502

Abstract

Claims (27)

1. A camera tracking system comprising at least one processor operative to:

receive equipment reference tracking information indicating poses of medical equipments and a patient reference array tracked by a tracking camera relative to a reference frame;

determine an extended reality (XR) headset view pose transform between an XR headset reference frame of an XR headset and the reference frame using the equipment reference tracking information;

obtain operator-gesture tracking information from the tracking camera indicating movement of an object relative to the XR headset reference frame by an operator wearing the XR headset;

select an operational command from among a set of operational commands based on the operator-gesture tracking information; and

provide instructions to one of the medical equipments based on the operational command that is selected wherein the at least one processor is further operative to:

determine a gesture path relative to the XR headset reference frame based on processing the operator-gesture tracking information through the XR headset view pose transform,

select the operational command from among the set of operational commands based on identifying that the gesture path corresponds to a defined gesture associated with the operational command, wherein the operational commands in the set are associated with different shaped gesture paths,

wherein the at least one processor is further operative to:

select the operational command for relocating an end effector connected to a surgical robot arm that is movable under control of a surgical robot system, from among the set of operational commands based on the gesture path corresponding to the defined gesture associated with the operational command for relocating the end effector;

determine a present pose of the end effector based on end effector tracking information indicating pose of the end effector tracked by the tracking camera relative to the reference frame; and,

control movement of the end effector by the surgical robot system from the present pose to a target pose relative to the reference frame based on the operational command for relocating the end effector;

determine a planned end effector trajectory path from the present pose to the target pose based on at least a segment of the gesture path; and

control movement of the end effector by the surgical robot system to conform to the planned end effector trajectory path from the present pose to the target pose.

2. The camera tracking system of claim 1 , wherein:

the tracking camera is part of the XR headset; and

the reference frame is the same as the XR headset reference frame.

3. The camera tracking system of claim 1 , wherein the at least one processor is further operative to:

determine the planned end effector trajectory path based on tracking movement of fingers and/or a hand of the operator wearing the XR headset relative to the end effector.

4. The camera tracking system of claim 1 , wherein the at least one processor is further operative to:

select the operational command for relocating medical imaging equipment in a room under control of a computer system, from among the set of operational commands based on the gesture path corresponding to the defined gesture associated with the operational command for relocating the medical imaging equipment;

determine a present location in the room of the medical imaging equipment relative to the reference frame based on the equipment reference tracking information;

determine a target location in the room for the medical imaging equipment relative to the reference frame based on at least a segment of the gesture path; and

control movement of the medical imaging equipment by the computer system from the present location to the target location based on the operational command for relocating the medical imaging equipment.

5. The camera tracking system of claim 1 , wherein the at least one processor is further operative to:

obtain first graphical and/or textual information from a first one of the medical equipments, and second graphical and/or textual information from a second one of the medical equipments; and

display the first graphical and/or textual information through the XR headset with a pose in the XR headset reference frame defined to be adjacent to the first one of the medical equipments and display the second graphical and/or textual information through the XR headset with another pose in the XR headset reference frame defined to be adjacent to the second one of the medical equipment.

Assignments (1)

Continuity (1)

References Cited (400)