Globus Medical, Inc.

Global Medical Inc.

Thomas Calloway

Norbert J Johnson

Paul Michael Yarin

Kenneth Milton Jones

John Popoolapade

Thierry Lemoine

Christian Jutteau

Christophe Bruzy

Yannick James

Joachim Laguarda

Dong-Mei Pei Xing

Sebastien Gorges

Neil Robert Crawford

Weston Healy

Isaac Dulin

Michael Robinson

Dana Wisniewski

Keerthighaan Kanagasegar

Rand Kmiec

Matthew Bechtel

Dale Earle

Keiichi Matsuda

Alexander Krull

Gary Pinard

Amaya Raphaelson

Jeffrey Forsyth

Caelan Allen

Steven Chang

Leonid Naimark

Mir Hussain

Christine M Russ

Gerd Schmieta

Jeff Nichols

David Leff

Sanjay M Joshi

Darren Clutter

Bessam Al Jewad

Zachary Wassall

Douglas Legere

Ryan Fischer

Richard Pidgeon

Amelia Raphaelson

Tushar Sawant

Earle Dale

A camera tracking system is disclosed for computer assisted navigation during surgery. The camera tracking system is configured to identify a reference array tracked by a set of tracking cameras attached to an extended reality (XR) headset, and determine whether the reference array is registered as being paired with characteristics of one of a plurality of surgical tools defined in a surgical tool database. The camera tracking system is further configured to, based on the reference array being determined to not be registered and receiving user input, register the reference array to be paired with characteristics of one of the plurality of surgical tools selected based on the user input. The camera tracking system is further configured to provide a representation of the characteristics to a display device of the XR headset for display to the user.

Registration of surgical tool with reference array tracked by cameras of an extended reality headset for assisted navigation during surgery

A surgical tool tracking array can include a first marker holder, a second marker holder, and a tool holder. The first marker holder is configured to couple a first marker to the surgical tracking array in a first plane. The second marker holder is configured to couple a second marker to the surgical tool tracking array in a second plane that is independent and substantially parallel to the first plane. The tool holder is configured to couple a portion of a surgical tool to the surgical tool tracking array in a third plane that is independent from the first plane and the second plane.

Extended reality headset tool tracking and control

A surgical system includes an AR headset and a AR headset controller. The AR headset is configured to be worn by a user during a surgical procedure and has a see-through display screen configured to display an AR image and to allow at least a portion of a real-world scene to pass therethrough for viewing by the user. The AR headset also includes an opacity filter positioned between at least one of the user's eyes and the real-world scene when the see-through display screen is viewed by the user. The opacity filter provides opaqueness to light from the real-world scene. The AR headset controller communicates 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 generates the AR image based on the navigation information for display on the see-through display screen.

Augmented reality headset with varied opacity for navigated robotic surgery

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 surgical system includes a camera tracking system that determines a first pose transform between a first object coordinate system and the first tracking camera coordinate system based on first object tracking information from the first tracking camera which indicates pose of the first object. The camera tracking system determines a second pose transform between the first object coordinate system and the second tracking camera coordinate system based on first object tracking information from the second tracking camera indicating pose of the first object, and determines a third pose transform between a second object coordinate system and the second tracking camera coordinate system based on second object tracking information from the second tracking camera indicating pose of the second object. The camera tracking system determines a fourth pose transform between the second object coordinate system and the first tracking camera coordinate system.

Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums

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

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 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.

Robotic fluoroscopic navigation

A camera tracking bar of a camera tracking system for computer assisted surgery navigation. The camera tracking bar includes a first set of stereo tracking cameras having first resolution, first field of view, and spaced apart on the camera tracking bar by a first baseline distance. The camera tracking bar also includes a second set of stereo tracking cameras having second resolution, second field of view, and spaced apart on the camera tracking bar by a second baseline distance that is less than the first baseline distance. The second set of stereo tracking cameras is positioned between the first set of stereo tracking cameras, and the resolution and/or the field of view of the second set of stereo tracking cameras is different from the resolution and/or the field of view of the first set of stereo tracking cameras. A communication interface provides camera video streams to the camera tracking subsystem.

Camera tracking bar for computer assisted navigation during surgery

An augmented reality surgical system includes a head mounted display (HMD) with a see-through display screen, a motion sensor, a camera, and computer equipment. The motion sensor outputs a head motion signal indicating measured movement of the HMD. The computer equipment computes the relative location and orientation of reference markers connected to the HMD and to the patient based on processing a video signal from the camera. The computer equipment generates a three dimensional anatomical model using patient data created by medical imaging equipment, and rotates and scales at least a portion of the three dimensional anatomical model based on the relative location and orientation of the reference markers, and further rotate at least a portion of the three dimensional anatomical model based on the head motion signal to track measured movement of the HMD. The rotated and scaled three dimensional anatomical model is displayed on the display screen.

Surgeon head-mounted display apparatuses

A head-mounted extended reality (XR) display device includes a rigid mounting element coupled to a frame. The XR display device further includes right-side and left-side visible light cameras coupled to the rigid mounting element, right-side and left-side near-infrared (NIR) cameras coupled to the rigid mounting element, and an NIR light-emitting diode (LED) configured to illuminate a region within a field of view of the NIR cameras. The visible light cameras are configured to capture stereoscopic visible light images within a field of view of the user when the user is wearing the frame, and the NIR cameras are configured to capture stereoscopic NIR images within the field of view of the user when the user is wearing the frame.

Extended reality headset camera system for computer assisted navigation in surgery

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.

Extended reality instrument interaction zone for navigated robotic

A camera tracking system receives patient reference tracking information indicating pose of a patient reference array tracked by a patient tracking camera relative to a patient reference frame. A local XR headset view pose transform is determined between a local XR headset reference frame and the patient reference frame. Remote reference tracking information is received indicating pose of a remote reference array tracked by a remote reference tracking camera. A remote XR headset view pose transform is determined between a remote XR headset reference frame of a remote XR headset and the remote reference array. A 3D computer image is transformed 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. The transformed 3D computer image is provided to the remote XR headset for display with the remote pose relative to the remote XR headset reference frame.

Extended reality systems for visualizing and controlling operating room equipment

Growing community of inventors

Pelham, NH, United States of America

Thomas Calloway