US 12,262,961 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 Dec. 26, 2023, as Appl. No. 18/395,815.
Application 18/395,815 is a continuation of application No. 17/371,554, filed on Jul. 9, 2021, granted, now 11,850,009.
Application 17/371,554 is a continuation of application No. 17/368,190, filed on Jul. 6, 2021, granted, now 11,857,273.
Prior Publication US 2024/0180626 A1, Jun. 6, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 34/10 (2016.01); A61B 34/30 (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 surgical robot system comprising:
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;
an array of ultrasound (US) transducers coupled to the end-effector and adapted to be in physical contact with a patient body, the array of US transducers operative to transmit a plurality of US signals into the patient body and output, from reflected US signals, US imaging data of anatomical structure of the patient proximately located to the end-effector; and
a processor operative to obtain a computerized 3D image volume for the patient which has been derived from a medical imaging device and to track pose of the end-effector relative to anatomical structure in the 3D image volume based on the US imaging data.