US 11,883,117 B2 · Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums

Abstract

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.

Claims20

Dependent claims

A surgical system incorporating multiple extended reality (XR) headsets comprising:

a tracking bar containing navigation cameras;
a first XR headset having first tracking cameras and first tracking markers for tracking by the navigation cameras;
a second XR headset having second tracking cameras and second tracking markers for tracking by the navigation cameras;
a patient reference array adapted to be attached to a patient for tracking by the navigation cameras;
a tracking array attached to an object to be tracked by the first and second XR headsets and the navigation cameras;
a pose transform chaining module configured to determine a pose transform between the object and the first XR headset by chaining pose transforms of two or more of the following:
a pose transform between the object and the second XR headset;
a pose transform between the second XR headset and the patient;
a pose transform between the patient and the first XR headset;
a pose transform between the navigation cameras and the patient;
and
a pose transform between the patient and the first XR headset.

9 more elements

A surgical system incorporating multiple extended reality (XR) headsets comprising:

a tracking bar containing navigation cameras and configured to be fixed relative to an operating room;
a first XR headset having first tracking cameras and first tracking markers for tracking by the navigation cameras;
a second XR headset having second tracking cameras and second tracking markers for tracking by the navigation cameras;
a patient reference array adapted to be attached to a patient for tracking by the navigation cameras;
a tracking array attached to an object to be tracked by the first and second XR headsets and the navigation cameras;
a pose transform chaining module configured to indirectly determine a pose transform between the object and the first XR headset by chaining pose transforms of two or more of the following:
a pose transform between the object and the second XR headset using the second tracking cameras viewing the object tracking array;
a pose transform between the second XR headset and the patient using the second tracking cameras viewing the patient reference array;
a pose transform between the patient and the first XR headset using the first tracking cameras viewing the patient reference array;
a pose transform between the navigation cameras and the patient using the navigation cameras viewing the patient reference array;
and
a pose transform between the patient and the first XR headset using the first tracking cameras viewing the patient reference array.

9 more elements

Dependencies are inferred from the claim text.

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

Life of this patent

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

Life of this patent

Abstract

Claims20