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WO2025133921A1 - Marqueurs à fibre optique pour suivi tridimensionnel actif - Google Patents

Marqueurs à fibre optique pour suivi tridimensionnel actif Download PDF

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Publication number
WO2025133921A1
WO2025133921A1 PCT/IB2024/062782 IB2024062782W WO2025133921A1 WO 2025133921 A1 WO2025133921 A1 WO 2025133921A1 IB 2024062782 W IB2024062782 W IB 2024062782W WO 2025133921 A1 WO2025133921 A1 WO 2025133921A1
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WO
WIPO (PCT)
Prior art keywords
light
tracker
optical fibers
active tracking
connector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/IB2024/062782
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English (en)
Inventor
Andrew Kern
Robert Pahl
Eric TROTTER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Medtronic Navigation Inc
Original Assignee
Medtronic Navigation Inc
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Filing date
Publication date
Application filed by Medtronic Navigation Inc filed Critical Medtronic Navigation Inc
Publication of WO2025133921A1 publication Critical patent/WO2025133921A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes

Definitions

  • LEDs light emitting diodes
  • LEDs and electronics included in such conventional active tracking markers are negatively impacted, resulting in limited lifespan, as well as loss of brightness or functionality.
  • the use of such conventional active tracking markers near the sterile field is limited due to the limited lifespan caused by exposure to autoclave sterilization. For this reason, the utility of active tracking arrays is reduced, as conventional active tracking arrays are prone to early failure, require surgical draping to be placed over the arrays, or are used far away from the surgical field.
  • the present disclosure relates to the design of active marker arrays for use in three- dimensional optical localization of objects within a surgical field.
  • Active markers conventionally designed with LEDs, offer greater precision and localization accuracy as compared to traditional retroreflective markers.
  • the use of active tracking near the sterile field is limited due to the limited lifespan of LEDs after exposure to autoclave sterilization.
  • the utility of active tracking arrays is reduced, as conventional active tracking arrays are prone to early failure, require surgical draping to be placed over the arrays, or are used far away from the surgical field.
  • the term marker may refer to an element capable of reflecting or emitting light.
  • the term active tracking marker may refer to a singular light emitting element.
  • a marker may be an active tracking marker or a retro-reflecting marker.
  • the term tracker (or marker array) may be used to describe an assembly containing one or more markers.
  • the disclosed systems and methods solve the above-discussed problem with conventional marker arrays by separating a marker array into two components, a non-sterile light source, and a sterilizable tracker. Light sources contained within the non-sterile component may be programmable and configurable.
  • Light from the non-sterile light sources may be conducted to the sterile component through, for example, a fiber optic bundle, light pipe, or other light transfer mechanism, with light-emitting terminations at designated marker locations. Fiber optic bundles and other light transfer mechanisms can withstand much higher temperatures and allow for more precise positioning than current technologies.
  • the light sources may be powered and controlled via direct connection to a navigation system or independently (battery, electronics, or other external power and control sources) depending on the precise application.
  • Embodiments of the present disclosure allow for creating a universal non-sterile light source that supports a wide variety of marker configurations. Additionally, modularity allows for increased reliability and durability, assembly redundancy, and overall lower costs to users compared to a conventional all in one solution. Marker arrays as described herein may be individually calibrated, further increasing navigation accuracy, with unique calibration information stored locally to the tracker connector.
  • marker arrays as described herein may be utilized in the context of a surgical navigation system in which the navigation system identifies the location of the active marker array in space to indicate the location of a surgical instrument or tool in the surgical field for precise positioning.
  • this marker array may be used to localize a robot, such that it may identify its location in space to move to positions in the surgical area or perform surgical actions.
  • a drape is required to maintain a sterile field, which poses a significant limitation to marker localization accuracy and usability of the tracked device.
  • the disclosed systems and methods improve upon conventional active marker arrays by enabling marker arrays to be sterilized and eliminating the need for draping, resulting in improved usability and navigation accuracy.
  • aspects of the above active tracking system include the active tracking system further comprising a connector, wherein the connector comprises the respective light-receiving end of each of the one or more optical fibers.
  • aspects of the above active tracking system include wherein the connector is configured to mate with a second connector through a drape or other surgical barrier.
  • aspects of the above active tracking system include wherein the active tracking system is configured to be sterilized and the second connector is comprised by a non-sterile device.
  • aspects of the above active tracking system include wherein the respective lightreceiving ends are configured to receive light via the connector.
  • aspects of the above active tracking system include wherein the connector is configured to mate with a tool-changer module.
  • aspects of the above active tracking system include the active tracking system further comprising a photosensor disposed at a position on the surface of the tracker.
  • aspects of the above active tracking system include wherein the tracker is configured to mount an external device.
  • aspects of the above active tracking system include wherein the optical fibers are configured to receive light from the external device via at least one light emitting diode configured to emit pulses of light.
  • aspects of the above active tracking system include wherein the surface of the tracker comprises a hole configured to align with a photosensor of an external device.
  • aspects of the above active tracking system include wherein the tracker is configured to mount to a surgical instrument.
  • aspects of the above active tracking system include wherein the instrument comprises a mechanism which connects to patient anatomy, such as a bone clamp, pin, or other fixation method.
  • aspects of the above active tracking system include wherein the tracker is configured to mount to a robotic arm.
  • aspects of the above active tracking system include wherein the output light is configured to be detected by one or more cameras.
  • aspects of the above active tracking system include wherein the one or more cameras include a three- dimensional camera.
  • aspects of the above active tracking system include wherein the one or more cameras are used to determine a location of the tracker using the output light emitted from the optical fibers.
  • aspects of the above active tracking system include wherein the tracker comprises a geometric pattern comprising a plurality of points, wherein each light-emitting end is disposed at a unique point of the plurality of points.
  • aspects of the above active tracking system include further comprising including a memory device storing one or more of marker identification data and calibration data.
  • Example aspects of the present disclosure also include an active tracking system comprising: a tracker; one or more optical fibers, wherein each of the one or more optical fibers is configured to receive light from a light source at a respective light-receiving end and output light at a respective light-emitting end, wherein each respective light-emitting end is disposed at a respective position on a surface of the tracker; and a holder configured to fit a wireless active tracking light module comprising a power source, logic controller, and a light source configured to emit light to the one or more optical fibers.
  • Example aspects of the present disclosure also include a wireless active tracking light module comprising: a power source, logic controller, and a light source configured to emit light to one or more optical fibers of a tracker of an active tracking system.
  • Aspects of the wireless active tracking light module include the module further comprising a photosensor.
  • Aspects of the wireless active tracking light module include wherein the photosensor is positioned to align with a hole in a face of the tracker of the active tracking system.
  • Aspects of the wireless active tracking light module include wherein the module is configured to fit within a sterile sleeve.
  • Aspects of the wireless active tracking light module include wherein the module is configured to fit within a holder of the tracker of the active tracking system.
  • aspects of the present disclosure also include any of the above aspects in combination with any one or more other aspects, any one or more of the features disclosed herein, any one or more of the features as substantially disclosed herein, any one or more of the features as substantially disclosed herein in combination with any one or more other features as substantially disclosed herein, any one of the aspects/features/embodiments in combination with any one or more other aspects, features, and/or embodiments, as well as the use of any one or more of the aspects or features as disclosed herein.
  • each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and/or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together.
  • Fig. 5 is an illustration of a light module and tracker according to at least one embodiment of the present disclosure
  • the signal processing 120 enables the processor 104 (or a process of the navigation system 118) to process signal data (received from, for example, the active tracking marker 138) for the purpose of, for example, identifying at least a frequency of the signal data. Other information may be identified from the signal data such as, for example, amplitude, type of signal, signal length, etc.
  • the signal data may be, for example, light signal data, electrical signal data, infrared signal data, and/or electromagnetic signal data.
  • the signal data may be obtained over a period of time from, for example, the active tracking marker 138.
  • the identification 122 enables the processor 104 to identify the active tracking marker 138 based on the frequency as output by, for example, the signal processing 120.
  • the processor 104 may also receive at least one identification file 124 which may include information about one or more active tracking markers 138 and a corresponding frequency for each active tracking marker 138.
  • Each active tracking marker 138 may be a part of the same or different trackers.
  • a tracker as described herein may include multiple active tracking markers 138.
  • each active tracking marker 138 may have a different frequency from each other.
  • two or more active tracking markers 138 may have the same frequency.
  • the surfaces may be simply identified by their respective unique surfaces.
  • the identification 122 may also enable the processor 104 to identify a surgical tool, a face or surface of the surgical tool, a face or surface of the robot 114 and/or a robotic arm 116. More specifically, the identified active tracking marker 138 and the identification file 124 can be further used to identify a surface, such as a tracker or marker array, upon which the active tracking marker 138 is disposed on and/or a surgical tool (or a face of the surgical tool) upon which the active tracking marker 138 is disposed on, as will be described in detail below. The active tracking marker 138 can also be used to determine an orientation and/or position of a surgical tool, the robot 114, and/or the robotic arm 116.
  • Such content may, in some embodiments, be organized into one or more applications, modules, packages, layers, or engines.
  • the memory 106 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by the processor 104 to carry out the various method and features described herein.
  • various contents of memory 106 may be described as instructions, it should be appreciated that functionality described herein can be achieved through use of instructions, algorithms, and/or machine learning models.
  • the data, algorithms, and/or instructions may cause the processor 104 to manipulate data stored in the memory 106 and/or received from or via the imaging device 112, the robot 114, the database 130, and/or the cloud 134.
  • the memory 106 may also store the one or more identification file(s) 124.
  • the one or more identification files 124 may include information about each active tracking marker 138 of a plurality of active tracking markers 138 and a corresponding frequency of each active tracking marker 138.
  • the identification file(s) 124 may further include information about the active tracking marker 138 (or a frequency of the active tracking marker), and a corresponding tracker on which one or more active tracking markers 138 are mounted, a corresponding surgical tool, a corresponding face of the surgical tool, a corresponding face of the robot 114, a corresponding face of the robotic arm 116, and/or a corresponding sensor 132.
  • the one or more identification file(s) 124 may be used to identify a corresponding surgical tool or face (whether of the robot 114, the robotic arm 116, or the surgical tool) based on the active tracking marker 138 and more specifically, based on the corresponding frequency of the active tracking marker 138.
  • the computing device 102 may also comprise a communication interface 108.
  • the communication interface 108 may be used for receiving image data or other information from an external source (such as the imaging device 112, the robot 114, the active tracking marker 138, the navigation system 118, the database 130, the cloud 134, and/or any other system or component not part of the system 100), and/or for transmitting instructions, images, or other information to an external system or device (e.g., another computing device 102, the imaging device 112, the active tracking marker 138, the robot 114, the navigation system 118, the database 130, the cloud 134, and/or any other system or component not part of the system 100).
  • an external system or device e.g., another computing device 102, the imaging device 112, the active tracking marker 138, the robot 114, the navigation system 118, the database 130, the cloud 134, and/or any other system or component not part of the system 100.
  • the communication interface 108 may comprise one or more wired interfaces (e.g., a USB port, an Ethernet port, a Firewire port) and/or one or more wireless transceivers or interfaces (configured, for example, to transmit and/or receive information via one or more wireless communication protocols such as 802.1 la/b/g/n, Bluetooth, NFC, ZigBee, and so forth).
  • the communication interface 108 may be useful for enabling the device 102 to communicate with one or more other processors 104 or computing devices 102, whether to reduce the time needed to accomplish a computing-intensive task or for any other reason.
  • the computing device 102 may also comprise one or more user interfaces 110.
  • the user interface 110 may be or comprise a keyboard, mouse, trackball, monitor, television, screen, touchscreen, and/or any other device for receiving information from a user and/or for providing information to a user.
  • the user interface 110 may be used, for example, to receive a user selection or other user input regarding any step of any method described herein.
  • An imaging device 112 as described herein may be operable to image anatomical feature(s) (e.g., a bone, veins, tissue, etc.) and/or other aspects of patient anatomy to yield image data (e.g., image data depicting or corresponding to a bone, veins, tissue, etc.).
  • image data refers to the data generated or captured by an imaging device 112, including in a machine-readable form, a graphical/visual form, and in any other form.
  • the image data may comprise data corresponding to an anatomical feature of a patient, or to a portion thereof.
  • the image data may be or comprise a preoperative image, an intraoperative image, a postoperative image, or an image taken independently of any surgical procedure.
  • a first imaging device 112 may be used to obtain first image data (e.g., a first image) at a first time, and a second imaging device 112 may be used to obtain second image data (e.g., a second image) at a second time after the first time.
  • the imaging device 112 may be capable of taking a 2D image or a 3D image to yield the image data.
  • the imaging device 112 may be or comprise, for example, an ultrasound scanner (which may comprise, for example, a physically separate transducer and receiver, or a single ultrasound transceiver), an O-arm, a C- arm, a G-arm, or any other device utilizing X-ray-based imaging (e.g., a fluoroscope, a CT scanner, or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, an optical camera, a thermographic camera (e.g., an infrared camera), a radar system (which may comprise, for example, a transmitter, a receiver, a processor, and one or more antennae), or any other imaging device 112 suitable for obtaining images of an anatomical feature of a patient.
  • the imaging device 112 may be contained entirely within a single housing or may comprise a transmitter/emitter and a receiver/detector that are in separate housings or are otherwise physically
  • the imaging device 112 may comprise more than one imaging device 112.
  • a first imaging device may provide first image data and/or a first image
  • a second imaging device may provide second image data and/or a second image.
  • the same imaging device may be used to provide both the first image data and the second image data, and/or any other image data described herein.
  • the imaging device 112 may be operable to generate a stream of image data.
  • the imaging device 112 may be configured to operate with an open shutter, or with a shutter that continuously alternates between open and shut so as to capture successive images.
  • image data may be considered to be continuous and/or provided as an image data stream if the image data represents two or more frames per second.
  • Data from the one or more imaging devices 112 may be received for processing by one or more of a computing device 102, a robot 114, and/or a navigation system 118.
  • Such data may include image data which may be used to detect light emitted by one or more active tracking markers 138.
  • Each active tracking marker 138 may be a part of a tracker 140.
  • a tracker 140 may comprise a plurality of active tracking markers 138. The light emitted by the active tracking markers 138 may originate from one or more light modules 136 as described herein.
  • the light modules 136 may be controlled by one or more of a computing device 102, a robot 114, and/or other components of a system 100.
  • An active tracking marker 138 may be configured to emit or output one or more signals.
  • the active tracking marker 138 may include, for example, at least one optical fiber, plastic light guide, or other means of carrying light from a light source in a light module 136 mounted or connected to the active tracking marker 138 as described herein.
  • the active tracking marker 138 may be positioned adjacent to or integrated with another component of the system 100 such as, for example, the robot 114, the robotic arm 116, and/or a surgical tool.
  • the active tracking marker 138 may also be wirelessly connected to the light module 136 or connected to the light module 136 via a cable as described herein.
  • the present disclosure describes particular example embodiments of navigation systems and devices capable of detecting light from an active tracking marker 138, it should be appreciated the active tracking markers 138 described herein may be tracked by any type of optical sensing system capable of detecting light. The present disclosure should not be considered as limited to the use of the active tracking markers 138 by any particular type of navigation and/or camera system.
  • each active tracking marker 138 may have a different frequency from each other, may have a different number of or arrangement of optical fibers, or may contain identifying data stored in memory as described herein.
  • a plurality of markers 138 may make up an array or group of markers associated with particular identifying data capable of being used by a navigation system 118, computing system 102, or other device to identify the array or group of markers for localization purposes.
  • the plurality of active tracking markers 138 can be used to identify a surgical tool or medical device, a face of the surgical tool or medical device, and/or a face of the robot 114 and/or the robotic arm 116 based on a location of each active tracking marker 138. More specifically and in some embodiments, each the plurality of active tracking markers 138 can be positioned on a surface or face of a tracker so that each surface or face of the tracker can be identified based on the corresponding active tracking marker 138 combination. The identified surface(s) or face(s) of tracker(s) can be used to determine, for example, an orientation of as instrument, the robot 114, the robotic arm 116, and/or any object on which an active tracking marker 138 may be installed or attached.
  • Instruments as described herein may include surgical tools and/or medical devices such as, for example, an imager, a microscope, an ultrasound, drill systems, and/or any other surgical tool or medical device which may be trackable.
  • surgical tools and/or medical devices such as, for example, an imager, a microscope, an ultrasound, drill systems, and/or any other surgical tool or medical device which may be trackable.
  • the systems and methods described herein may be used to track any object, whether within the medical field or relating to non-medical use cases.
  • the light module 136 may be configured to emit light and can contain any type of light source emitting light of any spectrum.
  • Light sources may include, for example, LED, incandescent, fluorescent, halogen, laser, or other types of light source capable of transmitting light through an optical fiber.
  • Light emitted by such a light source may include light of one or more wavelengths, for example, infrared, visible light, and/or ultraviolet.
  • the light emitted can cause one or more optical fibers within the active tracking marker 138 to react.
  • the optical fibers can be used to identify one or more active tracking markers 138.
  • the navigation system 118 may be used to track a position and orientation (e.g., a pose) of the imaging device 112, the robot 114 and/or robotic arm 116, the active tracking marker 138, and/or one or more surgical tools (or, more particularly, to track a pose of a navigated active tracking marker 138 attached directly or indirectly in fixed relation to the one or more of the foregoing).
  • a position and orientation e.g., a pose
  • a tracker 140 may in some implementations comprise a photosensor disposed at a position on the surface of the tracker 140. In such implementations, data from the photosensor may be sent from the tracker 140 via the connector 308.
  • the connector 308 may include a contact 604 configured to communicate with a memory 210 device such as illustrated in Figs. 2, 4, and 5, which may be mounted on a tracker surface 400 and/or within a connector 208.
  • the contact 604 may be configured to read data from the memory 210, such as one or more of marker identification data, tracker identification data, and calibration data as described above.
  • Fig. 7 illustrates an exemplary implementation of a tracker 140 used in relation with a robotic arm 116.
  • the tracker 140 may be mounted to the robotic arm 116 by way of a connector 208.
  • the connector 208 may be operable to mate with connectors of a number of different devices. In this way, the connector 208 may serve as a tool changer module.
  • one or both of the connector 308 of the light module 136 and the connector 208 of the tracker 140, such as illustrated in Fig. 7, may comprise and/or be capable of connecting, or mating, with a tool changer module.
  • a connector 308 of a light module 136 may be capable of connecting to a plurality of different types of surgical and/or non-surgical tools and devices.
  • the connector 308 may enable a light source 304 to be used with a wide variety of different types of trackers 140 and other devices.
  • a connector 208 of a tracker 140 may be capable of connecting to a plurality of different types of surgical and/or non-surgical devices and/or different types of light modules.
  • the connector 208 may enable a tracker 140 to be used with a wide variety of different types of light modules and other devices.
  • the robotic arm 116 may include a light module 136.
  • the light module 136 may include a light source 304 and a connector 308.
  • the connector 308 of the light module 136 may connect with the connector 208 of the tracker 140 through a surgical drape 702 or other surgical barrier in such a way as to form a light bridge 700 extending from the light module 136 into the tracker 140.
  • Light from the light source 304 may emit through the light bridge 700 into one or more optical fibers 202 and emit from the tracker 140 via light-emitting ends 204 of the optical fibers 202.
  • the tracker 140 may be sterilized and the light module 136 may be used without requiring sterilization and may be comprised by a non-sterile device such as the robotic arm 116.
  • Fig. 8 illustrates an optical fiber 202 emitting light 800 from a surface 802 of a tracker 140.
  • an optical fiber 202 as described herein may be designed to emit light, denoted as light 800, from a surface 400 of a tracker 140.
  • the optical fiber may in some implementations be characterized by a diameter represented as “d.” Additionally, the emitted light 800 may follow a defined cone of emission with an angular range represented as “a.”
  • the optical fiber 202 illustrated in Fig. 8 is provided for illustration purposes only and should not be considered as limiting the shape or size of an optical fiber as described herein in any way.
  • Figs. 9A and 9B illustrate a wireless active tracking light module 900.
  • a wireless active tracking light module 900 may be utilized in implementations in which the wireless active tracking light module 900 may be mounted to or otherwise attached to a tracker 140 such as via a mounting bracket as illustrated in Fig. 2 and described below in relation to Figs. 10A and 10B. Sterilization of the light module 900 may be avoided by inserting the light module 900 within a sanitized container or wrapping the light module 900 in a surgical drape or other surgical barrier as illustrated in Fig. 10A.
  • the wireless active tracking light module 900 may be designed with an integrated power source 302 such as a battery which may operate to provide power to one or more light sources 304 and one or more photosensors 306 in some implementations.
  • an active tracking light module 900 as described herein may include one or more logic circuits 300 capable of driving a light source 304 to emit light at a particular frequency and/or pattern.
  • the logic circuit 300 may be enabled to receive instructions from and/or be controlled by a computing device 102 via a communication system 310.
  • the logic circuit 300 may be capable of applying power from a power supply 302 of the active tracking light module 900 to the light source 304 to cause the light source 304 to emit light.
  • a light source 304 of a wireless active tracking light module 900 may be configured to emit light to one or more optical fibers of a tracker of an active tracking system. For example, as illustrated in Fig. 10A, and described below, the light source 304 may, when the wireless active tracking light module 900 is mounted to a tracker 140, align with one or more light-receiving ends of optical fibers of the tracker 140. Similarly, a photosensor 306 of a wireless active tracking light module 900 may be configured to, when the wireless active tracking light module 900 is mounted to a tracker 140, be positioned to align with a hole in a surface of the tracker 140 as illustrated in Fig. 10A.
  • FIGs. 10A and 10B illustrate an embodiment of a tracker 140 which includes a mounting bracket 212 configured to fit a wireless active tracking light module 900 as described above in relation to Figs. 9A and 9B.
  • the tracker 140 of Figs. 10A and 10B includes a plurality of optical fibers 202.
  • Each of the optical fibers 202 is configured to receive light from a light source 304 of a wireless active tracking light module 900 inserted in the mounting bracket 212. The light may be received by the optical fibers 202 at a respective light-receiving end and be output at a respective lightemitting end 204 on a surface 400 of the tracker 140.
  • Each respective light-emitting end 204 may be disposed at a respective position on the surface 400 of the tracker 140.
  • the mounting bracket 212 may be a holder configured to fit a wireless active tracking light module 900 comprising a battery and at least a light source 304 configured to emit light to the one or more optical fibers 202 of the tracker 140.
  • light from the light module 136 may pass through the one or more optical fibers and be emitted at light-emitting ends of the one or more optical fibers and be emitted from the tracker 140.
  • light emitted from a tracker 140 may be detected by a computing device 102.
  • the light may be captured using one or more imaging devices 128, 112 and signals from the imaging device(s) 128, 112 may be processed by a processor 104 of the computing device 102.
  • a location of the tracker 140 may be tracked.
  • the computing device 102 may triangulate a position of the tracker 140 and may estimate or determine the location of the tracker 140.
  • the location of the tracker 140 may be tracked relative to one or more other markers, trackers, and/or objects.
  • Example 1 A tracking system comprising: a tracker consisting of one or more optical fibers, wherein each of the one or more optical fibers is configured to receive light from a light source at a respective light-receiving end and output light at a respective light-emitting end, wherein each respective light-emitting end is disposed near a respective position on a surface of the tracker.
  • Example 2 The tracking system of example 1, further comprising a connector, wherein the connector comprises the respective light-receiving end of each of the one or more optical fibers.
  • Example 3 The tracking system of example 2, wherein the connector is configured to mate with a second connector through a sterile barrier.
  • Example 4 The tracking system of example 3, wherein the active tracking system is sterilized and the second connector is unsterilized.
  • Example 5 The tracking system of example 2, wherein the respective light-receiving ends receive light via the connector.
  • Example 6 The tracking system of example 2, wherein the connector mates with a tool-changer module.
  • Example 7 The tracking system of example 1, further comprising a photosensor disposed at a position on the surface of the tracker.
  • Example 8 The tracking system of example 1, wherein the tracker is mountable to an external device.
  • Example 9 The tracking system of example 8, wherein the one or more optical fibers receive light from the external device via at least one light emitting diode.
  • Example 10 The tracking system of example 8, wherein the surface of the tracker comprises a hole that aligns with a photosensor of the external device.
  • Example 11 The tracking system of example 1, wherein the tracker is mountable to a surgical instrument.
  • Example 13 The tracking system of example 1, wherein the output light is detectable by one or more optical cameras.
  • Example 16 The tracking system of example 1, further comprising a memory device storing one or more of marker identification data and calibration data, wherein the one or more of the marker identification data and the calibration data are read by a computing system to identify the tracking system.
  • a tracking device comprising: a tracker; one or more optical fibers, wherein each of the one or more optical fibers is configured to receive light from a light source at a respective light-receiving end and output light at a respective light-emitting end, wherein each respective light-emitting end is disposed at a respective position on a surface of the tracker; and a holder configured to fit a wireless active tracking light module comprising a battery and a light source configured to emit light to the one or more optical fibers.
  • Example 18 The tracking device of example 17, further comprising a connector, wherein the connector comprises the respective light-receiving end of each of the one or more optical fibers.
  • Example 20 A method comprising: providing, by a light source, light to one or more optical fibers of a tracker, wherein the light source is removably connected to the tracker via a connector; and using light emitted from the one or more optical fibers to track a location of the tracker.

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  • Health & Medical Sciences (AREA)
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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Les systèmes et les procédés divulgués comprennent un système de suivi actif comprenant un dispositif de suivi et une ou plusieurs fibres optiques. Chacune de la ou des fibres optiques est configurée pour recevoir de la lumière provenant d'une source de lumière au niveau d'une extrémité de réception de lumière respective et délivrer de la lumière au niveau d'une extrémité émettrice de lumière respective. Chaque extrémité émettrice de lumière respective est disposée à une position respective sur une surface du dispositif de suivi.
PCT/IB2024/062782 2023-12-19 2024-12-17 Marqueurs à fibre optique pour suivi tridimensionnel actif Pending WO2025133921A1 (fr)

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US63/612,116 2023-12-19

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3685785A1 (fr) * 2019-01-22 2020-07-29 Stryker European Holdings I, LLC Unité de poursuite pour un système de navigation chirurgical
US20210153940A1 (en) * 2014-09-15 2021-05-27 Arun Victor JAGGA Surgical navigation system using image segmentation
US20230263579A1 (en) * 2017-10-05 2023-08-24 Mobius Imaging, Llc Methods And Systems For Performing Computer Assisted Surgery

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210153940A1 (en) * 2014-09-15 2021-05-27 Arun Victor JAGGA Surgical navigation system using image segmentation
US20230263579A1 (en) * 2017-10-05 2023-08-24 Mobius Imaging, Llc Methods And Systems For Performing Computer Assisted Surgery
EP3685785A1 (fr) * 2019-01-22 2020-07-29 Stryker European Holdings I, LLC Unité de poursuite pour un système de navigation chirurgical

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