US 11,850,009 B2
Ultrasonic robotic surgical navigation
Neil Crawford, Chandler, AZ (US); Paden Troxell, Curwensville, PA (US); Dale Earle, Derry, NH (US); Michael Robinson, Concord, NH (US); Keiichi Matsuda, London (GB); and Isaac Dulin, Somerville, MA (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Jul. 9, 2021, as Appl. No. 17/371,554.
Application 17/371,554 is a continuation of application No. 17/368,190, filed on Jul. 6, 2021.
Prior Publication US 2023/0011428 A1, Jan. 12, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61B 90/06 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2048 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/062 (2016.02); A61B 2090/3925 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method by a surgical robot system of 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 configured to guide movement of a surgical instrument, the method comprising:
receiving ultrasound (US) imaging data from an ultrasound (US) transducer coupled to the end-effector, wherein the US imaging data is of anatomical structure proximately located to the end-effector;
obtaining an image volume for the patient; and
tracking pose of the end-effector relative to anatomical structure captured in the image volume based on the US imaging data.