CPC A61B 34/10 (2016.02) [A61B 5/1072 (2013.01); A61B 5/1075 (2013.01); A61B 5/1127 (2013.01); A61B 5/6828 (2013.01); A61B 8/0875 (2013.01); A61B 8/4227 (2013.01); A61B 8/4245 (2013.01); A61B 34/20 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2068 (2016.02); A61B 2034/256 (2016.02); A61B 90/361 (2016.02); A61B 2090/378 (2016.02); A61B 90/39 (2016.02); A61B 2090/3983 (2016.02); A61B 2090/3991 (2016.02)] | 16 Claims |
1. A system for determining a position and an orientation of a bone of an anatomical feature, the bone underlying an outer-skin surface of the anatomical feature, the system comprising:
a wearable holder configured to be mounted about the outer-skin surface of the anatomical feature, the anatomical feature and the bone being positioned in fixed relation with respect to the wearable holder when the wearable holder is mounted about the anatomical feature;
at least two reference marker arrays fixed to the wearable holder, the at least two reference marker arrays including a first reference marker array and a second reference marker array spaced apart from the first reference marker array on the wearable holder, the first reference marker array being positioned on the wearable holder to identify a first bone landmark underlying the wearable holder when the wearable holder is mounted about the anatomical feature, and the second reference marker array being positioned on the wearable holder to identify a second bone landmark underlying the wearable holder, each of the first reference marker array and the second reference marker array including a plurality of reference markers;
a fixed reference defining a reference coordinate system;
a position sensing device configured to register position and orientation readings of the first reference marker array and the second reference marker array in the reference coordinate system; and
a processing unit configured to receive the position and orientation readings and to measure time intervals, the processing unit including a landmark identification module and a landmark tracking module that are configured to determine the position and the orientation of the first bone landmark and the second bone landmark in the reference coordinate system for a given time interval using the first reference marker array and the second reference marker array of the wearable holder.
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