Surgical navigation system on wearable computer combining augmented reality and robotics
Inventors
AGUSTINOS, Anthony • Lavenu, Quentin • Contreras, Luis
Assignees
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Publication Number
US-12082896-B2
Publication Date
2024-09-10
Expiration Date
Abstract
The system for assisting a surgeon in the context of surgical operations includes a mobile wearable computer worn or carried by a user of the system, at least one perception sensor for collecting anatomical and/or instrumental measurement data in an operating scene, a processor adapted to process the collected anatomical and/or instrumental measurement data collected by the at least one perception sensor, a memory connected to the processor and adapted to store anatomical and/or instrumental measurement data, a robotic effector connected to the processor and adapted to carrying an instrument, wherein movements of the robotic effector are slaved to the anatomical and/or instrumental measurement data, wherein the anatomical and/or instrumental data delimit an area of action within which the movements of the robotic arm are restricted in the operating scene.
Core Innovation
The invention relates to an augmented-reality surgical navigation system for assisting a surgeon in the context of surgical operations. The system uses a mobile wearable computer adapted to be worn or carried by a user together with at least one perception sensor for collecting anatomical and/or instrumental measurement data in an operating scene. A processor processes the collected anatomical and/or instrumental measurement data and a memory stores the anatomical and/or instrumental measurement data.
A robotic effector connected to the wearable computer and adapted to carrying an instrument is controlled such that movements of the robotic effector are slaved to the anatomical and/or instrumental measurement data. The anatomical and/or instrumental data delimit an area of action within which the movements of the robotic arm are restricted in the operating scene. This uses sensed anatomical and/or instrumental measurement data to bound the motion of the robotic effector.
The document describes sensor-based localization and navigation in connection with an augmented-reality display on the wearable computer. It includes multi-stage image processing for robot/patient localization and AR display of surgical values, and embodiments based on localization using markers or marker-free 3D model localization. The system is described in the context of knee surgery, including robotic saw cutting planes and real-time servoing, and the principles are extended to other joints and drilling applications.
Claims Coverage
The partial content provides three independent claim sets (one system claim, one computer-readable medium claim, and one method claim). Across these independent claims, there are two main inventive aspects: slaving movements of a robotic effector to anatomical/instrumental measurement data and restricting robotic arm motion to an area of action delimited by those data, with AR information display via a mobile wearable computer.
Wearable augmented-reality surgical navigation with bounded motion control
A system for assisting a surgeon in surgical operations that includes a mobile wearable computer, at least one perception sensor for collecting anatomical and/or instrumental measurement data, a processor and memory for processing and storing the collected data, and a robotic effector connected to the wearable computer for carrying an instrument, where movements of the robotic effector are slaved to the anatomical and/or instrumental measurement data and where the anatomical and/or instrumental data delimit an area of action within which the movements of the robotic arm are restricted in the operating scene.
Non-transitory storage medium for navigation instructions slaving effector motion within a delimited action area
A non-transitory computer-readable data storage medium storing program comprising navigation instructions for controlling a system that includes a mobile wearable computer, at least one perception sensor, a processor, a memory, and a robotic effector carrying an instrument, where the program when run controls the operation of the system to implement slaving of the movements of the robotic effector to the anatomical and/or instrumental measurement data, and where the anatomical and/or instrumental data delimit an area of action within which the movements of the robotic arm are restricted in the operating scene.
Method using perception data to slave robotic effector motion while displaying results on a wearable computer
A method of assisting a surgeon in surgical operations comprising collecting anatomical and/or instrumental measurement data in an operating scene using at least one perception sensor, processing the collected anatomical and/or instrumental measurement data, slaving movements of a robotic effector adapted to carrying an instrument to the anatomical and/or instrumental measurement data such that the anatomical and/or instrumental data delimit an area of action within which the movements of the robotic arm are restricted in the operating scene, providing a mobile wearable computer, and displaying information obtained from the processing on the mobile wearable computer.
Across the independent claims, the coverage is centered on a surgeon-assistance architecture that couples a mobile wearable computer and perception sensing to process anatomical/instrumental measurement data, then slaving a robotic effector to that data while restricting the effector’s motion to an area of action delimited by the sensed/processed data, with information display on the wearable computer in the method claim.
Stated Advantages
Documented Applications
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