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Locating tumors using structured light scanning

  • US 10,521,916 B2
  • Filed: 02/21/2018
  • Issued: 12/31/2019
  • Est. Priority Date: 02/21/2018
  • Status: Active Grant
First Claim
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1. A system comprising:

  • an antenna configured to interact with a marker placed proximate target tissue inside a patient'"'"'s body;

    a structured light pattern source;

    a structured light detector;

    a display device; and

    a computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to;

    receive first data from the antenna indicating that the antenna is interacting with the marker at a first location;

    determine a distance between the antenna and the marker at the first location;

    cause the structured light pattern source to project a pattern onto the antenna;

    cause the structured light detector to;

    detect the pattern projected onto the antenna; and

    generate second data regarding the pattern projected onto the antenna;

    determine, based on the second data, a pose of the antenna at the first location;

    receive third data from the antenna indicating that the antenna is interacting with the marker at a second location;

    determine a distance between the antenna and the marker at the second location;

    cause the structured light pattern source to project a pattern onto the antenna;

    cause the structured light detector to;

    detect the pattern projected onto the antenna; and

    generate fourth data regarding the pattern projected onto the antenna;

    determine, based on the fourth data, a pose of the antenna at the second location;

    determine, based on the determined distance between the antenna and the marker at the first location and the second location, and the determined pose of the antenna at the first location and the second location, a position of the marker relative to the antenna; and

    cause the display device to display the determined position of the marker relative to the antenna.

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