US 12,127,892 B2
Optical marker for positioning medical instrument, and medical instrument assembly
Fei Sun, Shanghai (CN); Yi Zhu, Shanghai (CN); Shixin Liu, Shanghai (CN); Xiaojie Guo, Shanghai (CN); and Ying Shan, Shanghai (CN)
Assigned to JEDICARE MEDICAL CO., LTD., Shanghai (CN)
Appl. No. 17/996,145
Filed by JEDICARE MEDICAL CO., LTD., Shanghai (CN)
PCT Filed Mar. 9, 2021, PCT No. PCT/CN2021/079648
§ 371(c)(1), (2) Date Oct. 13, 2022,
PCT Pub. No. WO2021/208636, PCT Pub. Date Oct. 21, 2021.
Claims priority of application No. 202010286335.X (CN), filed on Apr. 13, 2020.
Prior Publication US 2023/0210629 A1, Jul. 6, 2023
Int. Cl. A61B 90/11 (2016.01); A61B 17/00 (2006.01); A61B 17/34 (2006.01); A61B 90/00 (2016.01)
CPC A61B 90/39 (2016.02) [A61B 17/34 (2013.01); A61B 90/11 (2016.02); A61B 2017/00862 (2013.01); A61B 2017/3407 (2013.01); A61B 2090/3937 (2016.02)] 11 Claims
OG exemplary drawing
 
1. An optical marker for positioning a medical device outside a body, comprising:
a base having a central axis and a concave portion or a convex portion, the concave portion or the convex portion being provided with one or more non-coplanar optical marks, the one or more non-coplanar optical marks comprising a plurality of feature points, and the one or more non-coplanar optical marks being visible on the surface of the concave portion or the convex portion; and
a connecting portion connected to the base and used for connecting to a to-be-positioned portion of the medical device; wherein
the concave portion or the convex portion has a sheet-like structure, and a distribution of at least partial optical marks on a front surface of the sheet-like structure is consistent with a distribution of corresponding partial optical marks on a back surface of the sheet-like structure;
the sheet-like structure is made of a transparent material and provided with a non-transparent optical mark layer, the optical mark layer is provided with the one or more non-coplanar optical marks;
at least some of the plurality of feature points are located on a concentric circle and are distributed such that rotation of the feature points about the central axis of the base by any angle other than an integer multiple of 360° results in the feature points have a different arrangement about the central axis than before the rotation;
a current pose of the optical marker is determined by a positioning device based on a recognized optical marks, and then a current pose of the to-be-positioned portion of the medical device is determined based on a positional relationship between the optical marks and the to-be-positioned portion of the medical device; the medical device is positioned by recognizing the optical marker.