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US 11,950,858 B2Granted
Systems for performing computer assisted surgery
AssigneeMobius Imaging, LLC
InventorsGordon Row, Kyle Schwartz, Edward Daley, Scott Coppen, Todd Furlong, Michael Everman
Life of this patent
Estimating the term…
Abstract
Methods and systems for performing computer-assisted surgery, including robot-assisted image-guided surgery. Embodiments include marker devices for an image guided surgery system, marker systems and arrays for tracking a robotic arm using a motion tracking system, and image guided surgery methods and systems using optical sensors.
Claims20
A surgical system comprising:
- a robotic arm including a plurality of links between a proximal end and a distal end of the robotic arm, each of the plurality of links having a respective outer surface with an opening extending through the outer surface;
- an end effector attached to the distal end of the robotic arm;
- and
- a marker system for tracking the plurality of links of the robotic arm using a motion tracking system, the marker system comprising:
- a light source associated with each of the plurality of links of the robotic arm located below the outer surface of the respective link and supported within the respective link to emit light through the opening of the respective link, and
- a marker associated with each of the plurality of links of the robotic arm and comprising an optical diffuser configured to releasably attach to the respective link above the outer surface of the respective link to optically couple the light source associated with the respective link to the optical diffuser.
3 more elements
A surgical system comprising:
- a robotic arm including a plurality of links between a proximal end and a distal end of the robotic arm, each of the plurality of links having a respective outer surface with an opening extending through the outer surface;
- an end effector attached to the distal end of the robotic arm;
- a surgical drape covering the robotic arm;
- and
- a marker system for tracking the plurality of links of the robotic arm using a motion tracking system, the marker system comprising:
- a light source associated with each of the plurality of links of the robotic arm located below the outer surface of the respective link and supported within the respective link to emit light through the opening of the respective link,
- an optical guide associated with each of the plurality of links of the robotic arm optically coupled to the light source associated with the respective link and extending between a first end disposed in the opening of the respective link and a second end, and
- a marker associated with each of the plurality of links of the robotic arm and comprising an optical diffuser configured to releasably attach to the second end of the optical guide associated with the respective link to optically couple the light source associated with the respective link to the optical diffuser.
5 more elements
Dependencies are inferred from the claim text.