Visible light communication system for transmitting data between visual tracking systems and tracking markers

• US 10,507,063 B2
• Filed: 11/23/2015
• Issued: 12/17/2019
• Est. Priority Date: 11/21/2014
• Status: Active Grant

• Current Assignee: Think Surgical, Inc.
• Original Assignee: Think Surgical, Inc.
• Inventors: Zuhars, Joel, Tabandeh, Saleh
• Primary Examiner(s): Sanchez, Dibson J
• Application Number:
  US15/505,167
• Publication Number:
  US 20170245945A1
• Time in Patent Office: 1,485 Days
• Field of Search: 398118-131, 398140-172
• CPC Class Codes: A61B 2017/00221 with wireless transmission of data, e.g. by infrared radiation or radiowaves
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/3937 Visible markers
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/397 electromagnetic other than visible, e.g. microwave
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 90/30 Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: H04B 10/112 Line-of-sight transmission over an extended range
• CPC Class Codes: H04B 10/116 Visible light communication

Abstract

An optical tracking system includes at least one tracking array for generating and optically transmitting data between 1 and 2,000 MB/s. At least one tracker for optically receiving the optically transmitted data between 1 and 2,000 MB/s is also provided. The tracking system is used not only for tracking objects and sending tracking information quickly but also providing the user or other components in an operating room with additional data relevant to an external device such as a computer assisted device. Orthopedic surgical procedures such as total knee arthroplasty (TKA) are performed more efficiently and with better result with the optical tracking system.

Claims

1. An optical tracking system for a robotic surgical device, the system comprising:

the robotic surgical device having one or more processors and a photosensor in communication with at least one of said processors;

at least one tracking array coupled with said robotic surgical device and in communication with at least one of said processors, wherein said tracking array comprises a first set of at least three active light emitting diodes (LEDs), where at least one of said active LEDs is modulated to optically transmit data from one or more of said processors, and where said active LEDs concurrently or independently also emit optical signals to permit tracking of said robotic surgical device;

at least one tracker for optically receiving said optically transmitted data; and

a second active LED on said at least one tracker, where the second active LED on said at least one tracker is modulated to optically transmit operational, informational, or instructional data to be received by the photosensor and used to execute or be executed by the robotic surgical device to implement a surgical plan, and

wherein said tracking array sends said optically transmitted data in two or more modes in parallel;

wherein

in at least a first mode said optically transmitted data comprising a first information is sent at a first data rate, and

in at least a second mode said optically transmitted data comprising a second information is sent at a second data rate different from the first data rate.

2. The system of claim 1 wherein said one or more processors provide error-correction code encoding, modulation, multiplexing, interleaving, FFT/IFFT or combinations thereof.

3. The system of claim 1 wherein said one or more processors transmit data using a time/frequency domain modulation.

4. The system of claim 1 wherein said photosensor is a photodiode, CCD, CMOS camera, or combination thereof.

5. The system of claim 4 wherein said at least one tracker further comprises a tracker processing unit and computer with machine readable instructions to read the optically transmitted data, and track the optically transmitted data or emitted optical signals.

6. The system of claim 1 wherein the said at least one tracker is a plurality of trackers.

7. The system of claim 1 wherein said tracking array is a configuration of a plurality of markers on said robotic surgical device.

8. The system of claim 1 wherein said tracking array optically transmits data using infrared light.

9. The system of claim 1 wherein said robotic surgical device is a hand-held robotic surgical device.