US 12,232,828 B2
On-board tool tracking system and methods of computer assisted surgery
Hani Haider, Carter Lake, IA (US); Ibrahim Al-Shawi, Amman (JO); and Osvaldo Andres Barrera, Omaha, NE (US)
Assigned to BOARD OF REGENTS OF THE UNIVERSITY OF NEBRASKA, Lincoln, NE (US)
Filed by Board of Regents of the University of Nebraska, Lincoln, NE (US)
Filed on Jan. 19, 2024, as Appl. No. 18/417,779.
Application 18/417,779 is a continuation of application No. 17/902,876, filed on Sep. 4, 2022, granted, now 11,911,117.
Application 17/902,876 is a continuation of application No. 16/140,289, filed on Sep. 24, 2018, granted, now 11,464,574, issued on Oct. 11, 2022.
Application 16/140,289 is a continuation of application No. 15/354,778, filed on Nov. 17, 2016, granted, now 10,080,617, issued on Sep. 25, 2018.
Application 15/354,778 is a continuation of application No. 13/842,526, filed on Mar. 15, 2013, granted, now 9,498,231, issued on Nov. 22, 2016.
Application 13/842,526 is a continuation in part of application No. PCT/US2012/044486, filed on Jun. 27, 2012.
Claims priority of provisional application 61/501,489, filed on Jun. 27, 2011.
Prior Publication US 2024/0180627 A1, Jun. 6, 2024
Int. Cl. A61B 34/20 (2016.01); A61B 1/313 (2006.01); A61B 5/06 (2006.01); A61B 5/107 (2006.01); A61B 17/14 (2006.01); A61B 17/17 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 5/00 (2006.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 1/3132 (2013.01); A61B 5/061 (2013.01); A61B 5/1076 (2013.01); A61B 17/142 (2016.11); A61B 17/1703 (2013.01); A61B 34/37 (2016.02); A61B 34/76 (2016.02); A61B 5/00 (2013.01); A61B 2034/102 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/061 (2016.02); A61B 2090/064 (2016.02); A61B 2090/3983 (2016.02); G06T 2207/30004 (2013.01); G06V 2201/034 (2022.01)] 13 Claims
OG exemplary drawing
 
1. A handheld surgical tool, comprising:
an active element comprising at least one of a saw blade, a burr, or a drill;
a projector configured to provide an output at least partially within a surgical field of view, wherein the output from the projector is adapted for projection onto a portion of a patient's anatomy within the surgical field of view, and wherein the output from the projector comprises information to guide a user performing a computer assisted surgery procedure; and
one or more sensors configured to provide movement and vibration information related to the handheld surgical tool, and wherein the information from the one or more sensors is used to compensate for movements and vibrations of the handheld surgical tool by adjusting the output of the projector to account for the movements and vibrations.