US 11,883,117 B2
Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums
Thomas Calloway, Pelham, NH (US)
Assigned to Globus Medical, Inc., Audubon, PA (US)
Filed by GLOBUS MEDICAL, INC., Audubon, PA (US)
Filed on Oct. 7, 2022, as Appl. No. 17/938,860.
Application 17/938,860 is a continuation of application No. 16/774,799, filed on Jan. 28, 2020, granted, now 11,464,581.
Prior Publication US 2023/0040292 A1, Feb. 9, 2023
Int. Cl. A61B 34/20 (2016.01); G02B 27/01 (2006.01); G06T 19/00 (2011.01)
CPC A61B 34/20 (2016.02) [G02B 27/0172 (2013.01); G06T 19/006 (2013.01); A61B 2034/2055 (2016.02)] 20 Claims
OG exemplary drawing
 
1. 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.