US 11,690,697 B2
Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
Weston Healy, Cambridge, MA (US); Thomas Calloway, Pelham, NH (US); and Norbert Johnson, North Andover, MA (US)
Assigned to GLOBUS MEDICAL, INC., Audobon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Nov. 18, 2021, as Appl. No. 17/529,909.
Application 17/529,909 is a continuation of application No. 16/794,496, filed on Feb. 19, 2020, granted, now 11,207,150.
Prior Publication US 2022/0071729 A1, Mar. 10, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 90/00 (2016.01); A61B 34/30 (2016.01); G02B 27/01 (2006.01); G06F 3/01 (2006.01); G06T 19/00 (2011.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 90/50 (2016.01); A61B 17/70 (2006.01); A61B 17/00 (2006.01); A61F 2/44 (2006.01)
CPC A61B 90/37 (2016.02) [A61B 34/30 (2016.02); G02B 27/0172 (2013.01); G06F 3/011 (2013.01); G06T 19/006 (2013.01); A61B 17/7001 (2013.01); A61B 2017/00907 (2013.01); A61B 2017/00991 (2013.01); A61B 2034/102 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/365 (2016.02); A61B 2090/3764 (2016.02); A61B 2090/502 (2016.02); A61F 2/4455 (2013.01); G02B 2027/014 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical system comprising:
an extended reality (“XR”) headset configured to be worn by a user during a surgical procedure and including a see-through display screen configured to display a virtual model of a planned instrument attachment and to allow at least a portion of a real-world scene to pass therethrough for viewing by the user, the real-world scene including an instrument;
an XR headset controller configured to 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 the instrument relative to the XR headset; and
a surgical robot including:
a robot base,
a robot arm connected to the robot base and configured to position an end effector which is configured to guide movement of the instrument,
at least one motor operatively connected to move the robot arm relative to the robot base.