Granted Patent B2

US 12,213,745 · App. 17/476,840 · Granted Feb 4, 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 (59)

1. A method by a camera tracking system, the method comprising:

receiving patient reference tracking information indicating pose of a patient reference array tracked by a patient tracking camera relative to a patient reference frame;

determining a local extended reality (XR) headset view pose transform between a local XR headset reference frame of a local XR headset and the patient reference frame using the patient reference tracking information;

receiving remote reference tracking information indicating pose of a remote reference array tracked by a remote reference tracking camera;

determining a remote XR headset view pose transform between a remote XR headset reference frame of a remote XR headset and the remote reference array using the remote reference tracking information;

transforming a three-dimensional (3D) computer image from a local pose determined using the local XR headset view pose transform to a remote pose determined using the remote XR headset view pose transform which outputs a transformed 3D computer image; and

providing the transformed 3D computer image to the remote XR headset for display with the remote pose relative to the remote XR headset reference frame.

2. The method of claim 1 , further comprising transforming the 3D computer image from the local pose to the remote pose while the patient tracking camera is remote from the remote reference tracking camera and not positioned to track pose of the remote reference array, and while the remote reference tracking camera is not positioned to track pose of the patient reference array.

3. The method of claim 1 , further comprising:

determining a 4 degree-of-freedom (4 DOF) pose of the remote XR headset based on measured movement along three orthogonal axes of the remote XR headset reference frame and rotation about one of the three orthogonal axes aligned with gravitational direction,

wherein the transformation of the 3D computer image from the local pose determined using the local XR headset view pose transform to the remote pose determined using the remote XR headset view pose transform comprises processing the 4 DOF pose of the remote XR headset through the remote XR headset view pose transform.

4. The method of claim 1 , further comprising:

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

determining a remote gesture path relative to the remote XR headset reference frame based on processing the remote operator-gesture tracking information through the remote XR headset view pose transform; and

transforming the remote gesture path to a local gesture path relative to the local XR headset reference frame using the local XR headset view pose transform.

5. The method of claim 4 , further comprising:

provide the local gesture path to the local XR headset for display relative to the local XR headset reference frame.

6. The method of claim 4 , further comprising:

determining the remote gesture path relative to the remote XR headset reference frame based on tracking movement indicated by the remote operator-gesture tracking information of a hand and/or a stylus which is moved by the remote operator while concurrently viewing the transformed 3D computer image through the remote XR headset relative to the hand and/or stylus being moved.

7. The method of claim 4 , further comprising:

selecting an operational command from among a set of operational commands based on the remote gesture path corresponding to defined gesture associated with the operational command, wherein the operational commands in the set are associated with different shaped gesture paths; and

providing the operational command to an equipment which is local to the local XR headset.

8. The method of claim 7 , further comprising:

selecting 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 remote gesture path corresponding to the defined gesture associated with the operational command for relocating the end effector;

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

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

9. The method of claim 7 , further comprising:

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

controlling 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.

10. The method of claim 8 , wherein:

the transformed 3D computer image comprises a graphical representation of the end effector displayed based on the remote pose relative to the remote XR headset reference frame and comprises a graphical representation of anatomical structure of the patient displayed based on the remote pose relative to the remote XR headset reference frame; and

the method further comprising

determining a planned end effector trajectory path from a present graphical pose of the graphical representation of the end effector to a target graphical pose of the graphical representation of the end effector based on tracking movement of fingers and/or a hand of the remote operator wearing the remote XR headset relative to the graphical representation of the end effector displayed relative to remote XR headset reference frame, and

controlling movement of the end effector by the surgical robot system to conform to the planned end effector trajectory path from the present pose relative to the patient reference frame to the target pose relative to the patient reference frame.

11. The method of claim 7 , further comprising:

selecting the operational command from among the set of operational commands which control at least one of the following:

operational settings of a computer assisted surgical navigation system;

operational settings of a surgical robot system;

operational settings of medical imaging equipment which is operable to obtain medical images of anatomical structure of the patient;

operational settings of intraoperative neuromonitoring equipment which is operable to monitor neural structures of the patient;

operational settings of the local XR headset;

operational settings of a computer display which is local to the local XR headset;

operational settings of a microscope which is local to the local XR headset;

operational settings of an exoscope which is local to the local XR headset;

operational setting of a lighting apparatus which is operable to illuminate the patient;

operational settings of a powered adjustable surgical bed which is operable to support the patient;

operational settings of a microscope which is local to the local XR headset;

operational settings of anesthesia equipment which is operable to supply anesthesia to the patient;

operational settings of a clock and/or timer which is local to the local XR headset;

operational settings of communication equipment which is local to the local XR headset; and

operational settings of sound equipment which is local to the local XR headset.

12. The method of claim 1 , further comprising:

obtaining graphical and/or textual information entered by the remote operator and which is displayed by the remote XR headset with a remote information pose relative to the remote XR headset reference frame using the remote XR headset view pose transform;

transforming the remote information pose of the graphical and/or textual information to a local information pose using the local XR headset view pose transform; and

providing the graphical and/or textual information to the local XR headset for display with the local information pose relative to the local XR headset reference frame.

13. The method of claim 1 , further comprising:

correlating in time individual ones of video frames of a local video stream received from the patient tracking camera with individual ones of video frames of a remote video stream received from the remote reference tracking camera;

controlling timing when the individual ones of the video frames of the local video stream are provided to the remote XR headset for display based on the correlation; and

controlling timing when the individual ones of the video frames of the remote video stream are provided to the local XR headset for display based on the correlation.

Assignments (1)

Continuity (2)

References Cited (400)