US 12,465,429 B2
Markerless navigation system
Branislav Jaramaz, Pittsburgh, PA (US); Daniel Farley, Memphis, TN (US); Darren J. Wilson, Hull (GB); Carlos Rodriguez, Miami, FL (US); Constantinos Nikou, Monroeville, PA (US); and Xuanye Wang, Reading, MA (US)
Assigned to SMITH & NEPHEW, INC., Memphis, TN (US); SMITH & NEPHEW ORTHOPAEDICS AG, Zug (CH); and SMITH & NEPHEW ASIA PACIFIC PTE. LIMITED, Singapore (SG)
Appl. No. 18/030,820
Filed by Smith & Nephew, Inc., Memphis, TN (US); Smith & Nephew Asia Pacific Pte. Limited, Sg (SG); and Smith & Nephew Orthopaedics AG, Zug (CH)
PCT Filed Oct. 8, 2021, PCT No. PCT/US2021/054126
§ 371(c)(1), (2) Date Apr. 7, 2023,
PCT Pub. No. WO2022/076790, PCT Pub. Date Apr. 14, 2022.
Claims priority of provisional application 63/209,067, filed on Jun. 10, 2021.
Claims priority of provisional application 63/089,742, filed on Oct. 9, 2020.
Prior Publication US 2023/0363831 A1, Nov. 16, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); G06T 7/10 (2017.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); G06T 7/10 (2017.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/254 (2016.02); A61B 2034/301 (2016.02); A61B 2090/365 (2016.02); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical system for an endoscopic surgical procedure, the surgical system comprising:
a depth-sensing system comprising:
an emitter configured to project structured electromagnetic radiation (EMR) onto a surface, and
an image sensor configured to obtain a depth image of the surface based on the structured EMR; and
a computer system coupled to the depth-sensing system, the computer system configured to:
receive a surgical plan associated with the endoscopic surgical procedure,
receive a model of an anatomical structure associated with the endoscopic surgical procedure,
generate, via the image sensor, the depth image based on the structured EMR,
segment the depth image to obtain surface geometry data of the anatomical structure embodied within the depth image,
register the surface geometry data of the anatomical structure to the model, and
update the surgical plan according to the registered surface geometry data.