Granted Patent B2

US 12,616,552 · App. 18/840,431 · Granted May 5, 2026

Inventors: Axel Blomè (Gothenburg, SE); Carl Bodin (Västra Frölunda, SE); Christian Al-Maleh (Bohus, SE); Klas Modin (Gothenburg, SE); Lisa Månsson (Hindås, SE); Madeleine Gustavsson (Kungsbacka, SE); Mårten Falkenberg (Gothenburg, SE); Niclas Kvarnström (Kållered, SE); Torbjörn Lundh (Billdal, SE)

Assignee: Navari Surgical AB

A61B90/39A61B2090/365A61B2090/3937A61B2090/3966A61B2090/3995

Abstract

Claims (26)

1 . A marker unit for use in augmented reality aided laparoscopic surgery of a bodily organ, the marker unit being made of a rigid material and comprising:

a flat body with two main surfaces, one of the main surfaces being provided with a set of optically detectable markers and the opposite main surface being provided with an adhesive and arranged to be connected to the bodily organ; and

a set of radiopaque markers visible by a medical imaging system;

wherein both the optically detectable markers and the radiopaque markers are provided in a geometrical pattern not having rotational symmetry, thereby allowing the rotational position of the marker unit to be determinable;

wherein the geometrical patterns of the optically detectable markers and the radiopaque markers have a fixed, predetermined correlation;

wherein the flat body comprises two layers fixedly connected to each other;

wherein the set of radiopaque markers is arranged sandwiched between said two layers;

wherein the main surface comprising the set of optically detectable markers is hydrophobic and non-reflecting; and

wherein the main surfaces have dimensions in two orthogonal direction in the range of 5-20 mm.

2 . The marker unit of claim 1 , wherein the flat body has a polygonal shape.

3 . Ther marker unit of claim 2 , wherein the flat body has a generally rectangular shape or square shape.

4 . The marker unit of claim 1 , wherein the main surface has dimensions in two orthogonal directions in the range of 5-15 mm or 7-12 mm.

5 . The marker unit of claim 1 , wherein the set of optically detectable markers comprises a plurality of geometrical figures distributed over the main surface.

6 . The marker unit of claim 5 , wherein the plurality of geometrical figures comprises a plurality of QR codes.

7 . The marker unit of claim 1 , wherein a maximal extension in any direction in the marker unit is less than 12 mm or less than 10 mm.

8 . The marker unit of claim 1 , wherein the marker unit is rigid.

9 . The marker unit of claim 1 , further comprising a handle for a laparoscopic tool.

10 . The marker unit of claim 9 , wherein the handle is arranged on a part of the flat body being free of the adhesive and/or the optically detectable markers.

11 . The marker unit of claim 9 , wherein the handle comprises one or more protruding portions that protrude in a lateral and/or transverse direction in relation to the main surfaces of the flat body.

12 . A system for augmented reality aided surgery comprising a marker unit in accordance with claim 1 , and further comprising a display and a controller, the controller being arranged to:

receive medical imaging data showing the marker unit at a position intended for surgery;

receive optically received image data showing the marker at the position intended for the surgery;

correlate the medical imaging data and the optically received image data based on the position of the set of radiopaque markers in the medical imaging data and the set of optically detectable markers in the optically received image data; and

providing an augmented reality image on the display, the augmented reality image comprising at least in part image data from the medical imaging data and the optically received image data.

13 . The system of claim 12 , wherein the medical imaging data is received form at least one of: computed tomography scan, cone beam computed tomography, magnetic resonance imaging, and ultrasound imaging.

14 . The system of claim 12 , wherein the optically received image data is received from a camera, and preferably a laparoscopic camera.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (45)