Patent ID: 11857273
Assignee: GLOBUS MEDICAL INC.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A

Claim 19:
20. 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 ultrasound (US) transducer coupled to the end-effector and operative to output US imaging data of anatomical structure proximately located to the end-effector; and
at least one processor operative to obtain an image volume for the patient and to track pose of the end-effector relative to anatomical structure captured in the image volume based on the US imaging data;
wherein a tracking camera operative to capture location of markers on the robot arm and/or the end-effector, and wherein the at least one processor is operative to:
track pose of the markers;
after tracking pose of the end-effector relative to the anatomical structure captured in the image volume based on the US imaging data for a period of time and responsive to the US transducer ceasing to output US imaging data of the anatomical structure proximately located to the end-effector, trigger continued tracking of the pose of the end-effector relative to the anatomical structure captured in the image volume based on output of the tracking camera; and
responsive to the US transducer resuming output of US imaging data of the anatomical structure proximately located to the end-effector, trigger continued tracking of the pose of the end-effector relative to the anatomical structure captured in the image volume based on the US imaging data.