US 12,322,118 B2
Robotic surgery
Jihad Kaouk, Gates Mills, OH (US); Nicholas Haas, Cleveland, OH (US); Tara Nagle, Cleveland, OH (US); Robb Colbrunn, Hinckley, OH (US); Callan Gillespie, Cleveland, OH (US); and Keiran Cantilina, Lakewood, OH (US)
Assigned to THE CLEVELAND CLINIC FOUNDATION, Cleveland, OH (US)
Filed by The Cleveland Clinic Foundation, Cleveland, OH (US)
Filed on Apr. 20, 2022, as Appl. No. 17/725,272.
Claims priority of provisional application 63/177,589, filed on Apr. 21, 2021.
Claims priority of provisional application 63/177,593, filed on Apr. 21, 2021.
Claims priority of provisional application 63/177,603, filed on Apr. 21, 2021.
Claims priority of provisional application 63/177,596, filed on Apr. 21, 2021.
Claims priority of provisional application 63/177,597, filed on Apr. 21, 2021.
Prior Publication US 2022/0354597 A1, Nov. 10, 2022
Int. Cl. G06T 7/246 (2017.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); G05B 19/4155 (2006.01); G06T 7/00 (2017.01); G06T 7/70 (2017.01)
CPC G06T 7/248 (2017.01) [A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/30 (2016.02); G05B 19/4155 (2013.01); G06T 7/0014 (2013.01); G06T 7/70 (2017.01); A61B 2034/102 (2016.02); A61B 2034/104 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2065 (2016.02); A61B 2562/16 (2013.01); G05B 2219/50391 (2013.01); G06T 2207/10012 (2013.01); G06T 2207/10132 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A surgical system comprising:
an imaging system configured to obtain real time intraoperative images of a patient's soft tissue organ;
at least one controller configured to generate a rendered virtual model overlayed on to the real time intraoperative images; and
a display configured to display the rendered virtual model overlayed on to the real time intraoperative images,
wherein the rendered virtual model includes a predefined avoidance region within an anatomy of the patient rendered in a first visual manner, and a predefined acceptable region within the anatomy of the patient rendered in a second visual manner.