US 11,883,105 B2
Surgical navigation system using image segmentation
Arun Victor Jagga, Toronto (CA); and Cameron Piron, Toronto (CA)
Assigned to Synaptive Medical Inc.
Filed by Synaptive Medical Inc., Toronto (CA)
Filed on Nov. 10, 2020, as Appl. No. 17/094,747.
Application 17/094,747 is a continuation in part of application No. 15/510,572, granted, now 10,828,104, previously published as PCT/CA2014/050872, filed on Sep. 15, 2014.
Prior Publication US 2021/0153940 A1, May 27, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 90/10 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/00 (2016.02) [A61B 34/20 (2016.02); A61B 90/10 (2016.02); A61B 90/39 (2016.02); A61B 2034/2046 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3983 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A system for intraoperatively tracking a medical equipment within a three-dimensional virtual space in real time, the system comprising:
a collinear array comprising a plurality of fiducial markers, each fiducial marker disposed at a known fixed distance relative to another fiducial marker in relation to the medical equipment, the plurality of fiducial markers comprising a plurality of active fiducial markers configured to emit a plurality of signals, each active fiducial marker comprising a flashing light-emitting diode, the plurality of active fiducial markers configured to emit the plurality of signals at a distinct combination of frequencies that is distinguishable from that of another plurality of active fiducial markers of another plurality of fiducial markers to uniquely identify the medical equipment relative to another medical equipment;
a camera for capturing an image of the medical equipment on a single image plane, to thereby provide a captured image, the captured image comprising an image of at least some fiducial markers of the plurality of fiducial markers; and
a processor configured to receive input from the camera and configured by a set of instructions to:
segment a plurality of representations of the plurality of fiducial markers from the captured image, to thereby provide a plurality of segmented representations;
calculate a three-dimensional orientation and a position of the medical equipment using the plurality of segmented representations;
track the three-dimensional orientation and the position of the medical equipment relative to the camera; and
register the three-dimensional orientation and the position of the medical equipment within the three-dimensional virtual space.