US 11,771,923 B2
Positioning and motion tracking using force sensing
Radhika Mohan Bodduluri, Palo Alto, CA (US); and Jeffrey Schlosser, Menlo Park, CA (US)
Assigned to Zap Surgical Systems, Inc., San Carlos, CA (US)
Filed by Zap Surgical Systems, Inc., San Carlos, CA (US)
Filed on Oct. 18, 2019, as Appl. No. 16/657,617.
Claims priority of provisional application 62/747,626, filed on Oct. 18, 2018.
Prior Publication US 2020/0121954 A1, Apr. 23, 2020
Int. Cl. A61N 5/10 (2006.01); A61B 6/04 (2006.01)
CPC A61N 5/1049 (2013.01) [A61B 6/04 (2013.01); A61N 5/107 (2013.01); A61N 5/1067 (2013.01); A61N 2005/1057 (2013.01); A61N 2005/1062 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A method of tracking motion of a rigid portion of a patient's body for medical treatment, the method comprising:
determining a force or pressure distribution from one or more force sensors interfaced, directly or indirectly, with a portion of the patient's body having a targeted tissue;
determining a change from an initial position of the portion of the patient's body, in which the targeted tissue is aligned with a radiation treatment beam from a radiosurgery system, by detecting a change in the force or pressure distribution detected with the one or more force sensors;
determining an updated position of the portion of the patient's body having the targeted tissue; and
re-aligning the radiation treatment beam with the targeted tissue in the updated position,
wherein the one or more force sensors comprise at least one strain gauge extending between a treatment mask and a patient support, wherein each strain gauge of the at least one strain gauge is electrically supported by a Wheatstone quarter-bridge circuit such that an output voltage is indicative of a deformation of the respective strain gauge corresponding to the change from the initial position.