Globus Medical, Inc.

Medtronic Navigation, Inc.

Breakaway Imaging, LLC

Other

Norbert J Johnson

Neil Robert Crawford

Thomas Calloway

Eugene A Gregerson

Sanjay M Joshi

Richard K Grant

Kevin Zhang

Weston Healy

Yuan Cheng

Robert G Stevens

Jeffrey Forsyth

Hisham Salem

David Cleary

Hayden Cameron

James Cascarano

Timothy Moulton

Andrew Berkowitz

Stephen Cicchini

Spiros Mantzavinos

Justin Larson

Chris Major

Mir Hussain

Jared Alden Judson

Sritam Parashar Rout

Jeff Forsyth

Alexander Krull

Gerd Schmieta

Rand Kmiec

Michael Brauckmann

Gary Pinard

Olivier Chappuis

Dana Wisniewski

Keerthighaan Kanagasegar

James Pelletier

Steven Chang

Matthew Bechtel

Paden Michael Troxell

Michael James Bartelme

Isaac Dulin

Ross Morris

Caelan Allen

Christine M Russ

Ryan Decker

Bessam Al Jewad

Adam Friedrich

Andrew Charles Davison

Nicholas A Theodore

Russell Stanton

Patrick A Helm

Stephanie Wolfe

Michael Connor

Peter Govey

James Yau

Wes Weber

Dale Earle

Rasool Khadem

Samuel Paster

Kyle Van Leer

Eric Studley

Michael Norcia

Caroline Conrad

Mert Erad

Nicholas Maritato

Nicholas Marcouiller

Kyle VanLeer

Robert LeBoeuf

Jawad Mokhtar

Ken Jones

Steve Tracy

David Demski

Christopher M Angelucci

Mitchell A Foster

Michael Robinson

Arnold B Vardiman

Keiichi Matsuda

Zachary Olenio

Gene Gregerson

Francisco Ponce

Raul Wirz

Danielle Reinhard

Brandon Marzolf

Steven Tracy

David Toombs

Christopher Major

Douglas Legere

Ryan Fischer

Tushar Sawant

Paden Troxell

Robert Leboeuf, Ii

Patrick Senatus

A method of determining the imaging arm's optimal 3-dimensional position and orientation for taking images of a body implant or body structure such as vertebral body is provided. Test images of vertebral body of interest are initially taken by the user and are received by the imaging device. The test images typically include AP and lateral x-ray images of the vertebral body. From the test images, the vertebral body is segmented. A 3-dimensional model of the vertebral body is then aligned against the corresponding vertebral body in the test images. Based on the alignment, a 3-dimensional position and orientation of the imaging arm for taking optimal A-P and lateral x-ray images are determined based on the aligned 3-dimensional model. The present method eliminates the need to repeatedly take fluoro shots manually to find the optimum images to thereby reduce procedural time, x-ray exposure and procedure costs.

System and method of determining optimal 3-dimensional position and orientation of imaging device for imaging patient bones

Embodiments generally relate to routing a bundle of loose cables with a cable chain during a medical procedure. The cable chain comprises split tubing and a plurality of links extending discretely along a length of the split tubing. Each link comprises a housing including an outer surface and an inner surface. The outer surface comprises a magnet and the inner surface forms a recess in the link. The split tubing is disposed within the recesses of the links.

Compound curve cable chain

A drape covers robotic equipment in a medical environment to maintain sterility. The robotic equipment has an arm with an end surface which attaches to a tool, such as an active end effector. The drape has an extended drape portion that covers the arm, and a shaped drape portion that covers the end of the arm where the arm is clamped to the tool. The drape is clamped inside the clamp, and where the clamping occurs, the drape has a band of material that is reinforced by being thickened or by including a different material. The shape of the band corresponds to the portion of the arm that is clamped by the clamp.

Sterile draping of robotic arms

A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.

Robot arm and methods of use

System and method of registering a medical image of a patient in an imaging space to the patient in a physical space preferably without the use of any embedded radiopaque fiducials in medical images is provided. In one way, intra-op 2D medical images are used to register a pre-op unregistered 3D medical image. The 2D medical images are registered based on simultaneous tracking of the tracking markers on the imaging device and on the patient by a tracking device at the time of image capture. The 2D images are matched to corresponding simulated 2D images generated from the pre-op 3D image volume. Thus, registration of a pre-op 3D image to the patient is accomplished without performing another 3D scan of the patient.

Registration of 3D and 2D images for surgical navigation and robotic guidance without using radiopaque fiducials in the images

The present disclosure is directed to augmented reality navigation systems and methods of their use that, inter alia, address the need for systems and methods of robotic surgical system navigation with reduced distraction to surgeons. Augmented reality navigation systems disclosed herein enable a surgeon to maintain focus on a surgical site and/or surgical tool being used in a surgical procedure while obtaining a wide range of navigational information relevant to the procedure. Navigational information can appear in the augmented reality navigation system as being presented on virtual displays that sit in a natural field of view of a surgeon during a procedure. Navigational information can also appear to be overlaid over a patient's anatomy. Augmented reality navigation systems comprise a head mounted display comprising an at least partially transparent display screen, at least one detector connected to the head mounted display for identifying real-world features, and a computer subsystem.

Augmented reality navigation systems for use with robotic surgical systems and methods of their use

A drill guide fixture may be configured to prepare a skull for attachment of a cranial insertion fixture. The drill guide fixture may include a central drill guide and a bone anchor guide at a base of the drill guide fixture. The central drill guide may define a central drill guide hole therethrough, wherein the central drill guide hole has a first opening at a base of the drill guide fixture and a second opening spaced apart from the base of the drill guide fixture. The bone anchor drill guide may define a bone anchor drill guide hole therethrough, and the bone anchor drill guide hole may be offset from the central drill guide hole in a direction that is perpendicular with respect to a direction of the central drill guide hole. Related cranial insertion fixtures, robotic systems, and methods are also discussed.

Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems

Devices, Systems, and Methods for detecting a 3-dimensional position of an object, and surgical automation involving the same. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and/or other objects to be tracked include active and/or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, are able to detect the tracking markers, and the robot determines a 3-dimensional position of the object from the tracking markers.

Surgical robotic automation with tracking markers

A registration fixture for use with a surgical navigation system for registration of medical images to a three-dimensional tracking space includes a base frame adapted to be mounted over a flat panel detector of an x-ray medical imaging device, and a side frame having optical tracking markers mounted to the base frame. The base frame includes a first set of radiopaque markers embedded therein in a first predetermined pattern and arranged on a plane, and a second set of radiopaque markers embedded therein in a second predetermined pattern also arranged on another plane, which is spaced from the first set of radiopaque markers. The side frame has a plurality of optical tracking markers and is configured to detachably mount to the base frame without piercing a sterilizing drape to be interposed between the base frame and the side frame.

Flat panel registration fixture and method of using same

A camera tracking system for computer assisted navigation during surgery. Operations identify locations of markers of a reference array in images obtained from tracking cameras imaging a real device. Operations determine measured coordinate locations of a feature of a real device in the images based on the identified locations of the markers and based on a relative location relationship between the markers and the feature. Operations process a region of interest in the images identified based on the measured coordinate locations through a neural network configured to output a prediction of coordinate locations of the feature in the images. The neural network has been trained based on training images containing the feature of a computer model rendered at known coordinate locations. Operations track pose of the feature of the real device in 3D space based on the prediction of coordinate locations of the feature of the real device in the images.

Camera tracking system for computer assisted surgery navigation

A fixture for a fluoroscopic x-ray imaging system is discussed, wherein the fluoroscopic imaging system includes a C-arm, an x-ray source at a first end of the C-arm, and an x-ray detector at a second end of the C-arm. The fixture includes a processor and memory coupled with the processor. The memory includes instructions that are executable by the processor so that the processor is configured to detect an x-ray emission from the x-ray source toward the x-ray detector, determine an offset of the x-ray source relative to the x-ray detector responsive to detecting the x-ray emission, and provide an indication of the offset of the x-ray source to a medical navigation system. Related methods and robotic systems are also discussed.

Fixtures for fluoroscopic imaging systems and related navigation systems and methods

A system includes a screw tower, an instrument, and a housing. The instrument includes a driver shaft extendable longitudinally through the screw tower, and a threaded sleeve mounted on a proximal portion of the driver shaft. The housing includes one or more retention members coupleable to the screw tower, and a threaded button threadably coupleable to the threaded sleeve. The threaded sleeve is rotatable about a longitudinal axis to urge the driver shaft longitudinally relative to the screw tower.

Screw tower and rod reduction tool

System and method of more efficiently identifying and segmenting anatomical structures from 2-D cone beam CT images, rather than from reconstructed 3-D volume data, is disclosed. An image processing system receives, from a cone beam CT device, at least one 2-D x-ray image, which is part of a set of x-ray images taken from a 360 degree scan of a patient with a cone beam CT imaging device. The x-ray image contains at least one anatomical structure such as vertebral bodies to be segmented. The received x-ray is then analyzed in order to identify and segment the anatomical structure contained in the x-ray image based on a stored model of anatomical structures. Once the 360 degree spin is completed, a 3-D image volume from the x-ray image set is created. The identification and segmentation information derived from the x-ray image is then added to the created 3-D image volume.

Auto segmentation using 2-D images taken during 3-D imaging spin

A virtual model a planned instrument attachment can be provided to ensure correct selection of a physical instrument attachment. An XR headset controller can generate a shape and a pose of the virtual model of the planned instrument attachment based on predetermined information associated with the planned instrument attachment and based on a pose of an instrument relative to the XR headset. An XR headset can display the virtual model on a see-through display screen of the XR headset that is configured to allow at least a portion of a real-world scene to pass therethrough.

Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment

A medical imaging system includes a movable station having a C-arm, a collector, an X-ray beam emitter, and a controller. The collector is attached to a first end of the C-arm. The X-ray beam emitter faces the collector to emit an X-ray beam in a direction of the collector and is attached to a second end of the C-arm. The controller moves one of the X-ray beam emitter and the collector to a first offset position along a lateral axis orthogonal to the arc, and obtains a first set of images by rotating the collector and the X-ray beam emitter along the arc about a scanned volume. The controller moves the one of the X-ray beam emitter and the collector to a second offset position along the lateral axis, and obtains a second set of images. The controller combines the first and second set of images to generate a three-dimensional image of the scanned volume.

Increased cone beam computed tomography volume length without requiring stitching or longitudinal c-arm movement

Growing community of inventors

North Andover, MA, United States of America

Norbert J Johnson