US 12,186,138 B2
Augmented reality headset for a surgical robot
Tianyu Song, Mountain View, CA (US); Blade Olson, Pasadena, CA (US); Bernhard A. Fuerst, Sunnyvale, CA (US); and Danyal Fer, Oakland, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Sep. 30, 2020, as Appl. No. 17/039,949.
Prior Publication US 2022/0096197 A1, Mar. 31, 2022
Int. Cl. A61B 90/00 (2016.01); A61B 34/37 (2016.01); G06T 7/70 (2017.01); G06T 17/20 (2006.01); G06T 19/00 (2011.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/50 (2016.01)
CPC A61B 90/36 (2016.02) [A61B 34/37 (2016.02); G06T 7/70 (2017.01); G06T 17/20 (2013.01); G06T 19/006 (2013.01); A61B 2034/102 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/301 (2016.02); A61B 2090/365 (2016.02); A61B 90/37 (2016.02); A61B 2090/502 (2016.02); G06T 2207/30204 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An augmented reality (AR) device for a surgical robotic system, comprising:
a sensor configured to capture image data of a first component of the surgical robotic system;
a processor configured to:
establish a global coordinate frame for the AR device and the surgical robotic system based on the image data for virtual components of the surgical robotic system to be created in the coordinate frame of the AR device;
receive spatial information and real-time system state information of the surgical robotic system; and
create a three-dimensional (3D) virtual model of a second component of the surgical robotic system in the coordinate frame of the AR device based on the spatial information and the real-time system state information of the surgical robotic system and based on the global coordinate frame; and
a display configured to present the 3D virtual model of the second component of the surgical robotic system.