US 12,383,350 B2
Constellations for tracking instruments, such as surgical instruments, and associated systems and methods
Jason A Schoen, Seattle, WA (US); Stephen A. Morse, Woodinville, WA (US); and Nicholas Hirdt, Seattle, WA (US)
Assigned to PROPRIO, INC., Seattle, WA (US)
Filed by Proprio, Inc., Seattle, WA (US)
Filed on May 17, 2024, as Appl. No. 18/668,023.
Application 18/668,023 is a continuation of application No. 17/469,599, filed on Sep. 8, 2021, granted, now 12,016,642.
Prior Publication US 2024/0299104 A1, Sep. 12, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 90/39 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/3983 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method of tracking an instrument through a scene, the method comprising:
capturing image data of a tracking constellation coupled to the instrument, wherein the tracking constellation comprises—
a rigid support, wherein the support is planar and extends along a first plane, wherein the support includes an aperture positioned along a longitudinal axis, wherein the longitudinal axis is orthogonal to the first plane, and wherein the instrument extends through the aperture;
a plurality of first standoffs extending from the support orthogonal to the first plane to a first height;
a plurality of second standoffs extending from the support orthogonal to the first plane to a second height different than the first height; and
a plurality of markers, wherein individual ones of the markers are mounted to a corresponding one of the first standoffs or the second standoffs, wherein the markers lay in a common second plane, and wherein the second plane extends at an acute angle to the first plane; and
determining a position and orientation of the instrument within the scene based on a position of the markers in the captured image data.