US 12,390,285 B2
Optical tracking device with built-in structured light module
Gaëtan Marti, Le Mont-sur-Lausanne (CH); Maurice Hälg, Savigny (CH); and Ranjith Steve Sivagnanaselvam, Moudon (CH)
Assigned to SMITH & NEPHEW ORTHOPAEDICS AG, Zug (CH); SMITH & NEPHEW, INC., Memphis, TN (US); and SMITH & NEPHEW ASIA PACIFIC PTE. LIMITED, Singapore (SG)
Filed by Smith & Nephew, Inc., Memphis, TN (US); Smith & Nephew Asia Pacific Pte. Limited, Singapore (SG); and Smith & Nephew Orthopaedics AG, Zug (CH)
Filed on Jan. 25, 2024, as Appl. No. 18/422,814.
Application 18/422,814 is a continuation of application No. 18/099,805, filed on Jan. 20, 2023, granted, now 11,896,320.
Application 18/099,805 is a continuation of application No. 17/604,116, granted, now 11,583,345, issued on Feb. 21, 2023, previously published as PCT/US2021/028890, filed on Apr. 23, 2021.
Claims priority of provisional application 63/014,803, filed on Apr. 24, 2020.
Prior Publication US 2024/0156544 A1, May 16, 2024
Int. Cl. A61B 34/20 (2016.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01); G06T 7/00 (2017.01); G06T 7/20 (2017.01); G06T 7/521 (2017.01); G06T 7/70 (2017.01); G06T 7/80 (2017.01); G06T 17/20 (2006.01); H04N 23/56 (2023.01)
CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); A61B 90/37 (2016.02); G06T 7/0012 (2013.01); G06T 7/20 (2013.01); G06T 7/521 (2017.01); G06T 7/70 (2017.01); G06T 7/85 (2017.01); G06T 17/20 (2013.01); H04N 23/56 (2023.01); A61B 2034/105 (2016.02); A61B 2034/2057 (2016.02); A61B 2090/371 (2016.02); G06T 2207/10012 (2013.01); G06T 2207/10048 (2013.01); G06T 2207/30004 (2013.01); G06T 2207/30204 (2013.01); G06T 2207/30244 (2013.01)] 16 Claims
OG exemplary drawing
 
14. A computer-implemented method comprising:
generating, by a surgical computing device surgical connected to an optical tracking device comprising a structured light module and an optical module comprising an image sensor and spaced from the structured light module at a known distance, a depth map from a first image captured by the image sensor during projection of a first near-infrared (NIR) pattern into a surgical environment by the structured light module;
processing, by the surgical computing device, a second image captured by the image sensor during projection of a second NIR pattern into the surgical environment by the structured light module;
reconstructing, by the surgical computing device, a three-dimensional surface of one or more anatomical structures in the surgical environment based on the generated depth map and the second image;
outputting, by the surgical computing device, the reconstructed three-dimensional surface to a display device; and
generating, by the surgical computing device, a plurality of three-dimensional surfaces of the one or more anatomical structures from a plurality of depth maps generated from a plurality of images captured by the image sensor during projection of the first and second NIR patterns into the surgical environment by the structured light module.