High bandwidth and low latency hybrid communication techniques for a navigation system

• US 10,555,781 B2
• Filed: 11/13/2018
• Issued: 02/11/2020
• Est. Priority Date: 11/15/2017
• Status: Active Grant

• Current Assignee: Stryker Corporation
• Original Assignee: Stryker Corporation
• Inventors: Malackowski, Donald W., Hoekstra, Paul, Shinew, Matt, Wu, Chunwu
• Primary Examiner(s): Motsinger, Tanya T
• Application Number:
  US16/189,241
• Publication Number:
  US 20190142525A1
• Time in Patent Office: 455 Days
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G08C 17/02 using a radio link
• CPC Class Codes: G08C 23/04 using light waves, e.g. infrared
• CPC Class Codes: H04B 1/02 Transmitters
• CPC Class Codes: H04B 10/1141 One-way transmission
• CPC Class Codes: H04N 5/04 Synchronising for television systems using pulse code modulation H04N7/56

Abstract

High bandwidth, low latency hybrid communication techniques are disclosed for a navigation system. The navigation system comprises a tracker configured to couple to the object and a localization device configured to track the tracker. In one embodiment, the localization device is configured to utilize communication on a first spectrum to track the tracker and to manage an operating parameter of the tracker with respect to communication on a second spectrum. In another embodiment, the localization device is configured to utilize communication with a first modulation method to track the tracker and to manage an operating parameter of the tracker and to utilize communication with a second modulation method for receiving sensor data from the tracker.

Claims

1. A navigation system comprising:

a tracker including a radio frequency (RF) transmitter, an infrared (IR) receiver, one or more tracking markers, and one or more inertial sensors configured to generate inertial data; and

a localization device including an RF receiver, an IR transmitter, and one or more tracking sensors, the localization device being configured to;

detect a position of the one or more tracking markers of the tracker, with the one or more tracking sensors, using IR communication;

communicate with the IR receiver of the tracker, using the IR transmitter, to manage an operating parameter of the tracker with respect to RF communication; and

wirelessly receive, with the RF receiver, the inertial data generated by the tracker and transmitted by the RF transmitter of the tracker using RF communication in accordance with the operating parameter of the tracker managed using IR communication.

2. The navigation system of claim 1, wherein the localization device is further configured to utilize the IR transmitter to communicate with the IR receiver of the tracker to manage an operating parameter of the tracker with respect to IR communication.

3. The navigation system of claim 1, wherein the localization device is further configured to:

detect the position of the one or more tracking markers of the tracker with the one or more tracking sensors by utilizing a first channel on the IR spectrum; and

communicate with the IR receiver of the tracker using the IR transmitter to manage the operating parameter of the tracker with respect to RF communication by utilizing a second channel on the IR spectrum being different from the first channel.

4. The navigation system of claim 1, wherein the RF spectrum comprises a plurality of RF channels with each RF channel operating on a different channel frequency and wherein the operating parameter specifies the channel frequency for the RF transmitter of the tracker.

5. The navigation system of claim 1, wherein the operating parameter specifies transmission power of the RF transmitter of the tracker.

6. The navigation system of claim 1, wherein the operating parameter manages timing of wireless transmission of the generated inertial data from the RF transmitter of the tracker.

7. The navigation system of claim 1, wherein the operating parameter coordinates both timing of wireless transmission of the generated inertial data from the RF transmitter of the tracker and operation of the one or more tracking markers of the tracker.

8. The navigation system of claim 1, wherein the localization device further comprises a second RF receiver and a controller configured to operate the RF receivers, wherein the controller is configured to:

operate one of the RF receivers to receive inertial data wirelessly from the RF transmitter of the tracker; and

operate the other one of the RF receivers to detect availability of one or more RF channels on the RF spectrum.

9. The navigation system of claim 1, wherein the localization device further comprises a second RF receiver and a controller configured to operate the RF receivers, wherein the controller is configured to:

operate the RF receivers of the localization device using spectrum diversity such that one of the RF receivers is configured to receive inertial data wirelessly from the RF transmitter of the tracker through a first RF channel at a first frequency on the RF spectrum and such that the other one of the RF receivers is configured to receive inertial data wirelessly from the RF transmitter of the tracker through a second RF channel at a second frequency that is different from the first frequency on the RF spectrum.

10. The navigation system of claim 9, wherein the operating parameter specifies the first and second frequencies for the RF transmitter of the tracker and manages switching between the first and second frequencies for the RF transmitter of the tracker to implement spectrum diversity.

11. A method of operating a navigation system comprising a tracker including a radio frequency (RF) transmitter, an infrared (IR) receiver, one or more tracking markers, and one or more inertial sensors, and with the navigation system comprising a localization device including an RF receiver, an IR transmitter, and one or more tracking sensors, the method comprising:

detecting a position of the one or more tracking markers of the tracker, with the one or more tracking sensors of the localization device, by utilizing IR communication;

generating inertial data with the one or more inertial sensors of the tracker;

communicating with the IR receiver of the tracker using the IR transmitter of the localization device for managing an operating parameter of the tracker with respect to RF communication; and

wirelessly receiving, with the RF receiver of the localization device, the inertial data generated by the tracker and transmitted by the RF transmitter of the tracker using RF communication in accordance with the operating parameter of the tracker managed using IR communication.

12. The method of claim 11, further comprising communicating with the IR receiver of the tracker using the IR transmitter of the localization device for managing an operating parameter of the tracker with respect to IR communication.

13. The method of claim 11, wherein:

detecting the position of the one or more tracking markers of the tracker with the one or more tracking sensors of the localization device further occurs by utilizing a first channel on the IR spectrum; and

communicating with the IR receiver of the tracker using the IR transmitter of the localization device for managing an operating parameter of the tracker with respect to RF communication further occurs by utilizing a second channel on the IR spectrum being different from the first channel.

14. The method of claim 11, wherein the RF spectrum comprises a plurality of RF channels with each RF channel operating on a different channel frequency and wherein managing the operating parameter specifies the channel frequency for the RF transmitter of the tracker.

15. The method of claim 11, wherein managing the operating parameter specifies transmission power of the RF transmitter of the tracker.

16. The method of claim 11, wherein managing the operating parameter manages timing of wireless transmission of the generated inertial data from the RF transmitter of the tracker.

17. The method of claim 11, wherein managing the operating parameter coordinates both timing of wireless transmission of the generated inertial data from the RF transmitter of the tracker and operation of the one or more tracking markers of the tracker.

18. The method of claim 11, wherein the localization device further comprises a second RF receiver and a controller configured to operate the RF receivers, the method further comprising the controller:

operating one of the RF receivers to receive inertial data wirelessly from the RF transmitter of the tracker; and

operating the other one of the RF receivers to detect availability of one or more RF channels on the RF spectrum.

19. The method of claim 11, wherein the localization device further comprises a second RF receiver and a controller configured to operate the RF receivers, the method further comprising the controller:

operating the RF receivers of the localization device using spectrum diversity such that one of the RF receivers receives inertial data wirelessly from the RF transmitter of the tracker through a first RF channel at a first frequency on the RF spectrum and such that the other one of the RF receivers receives inertial data wirelessly from the RF transmitter of the tracker through a second RF channel at a second frequency that is different from the first frequency on the RF spectrum.

20. The method of claim 19, wherein managing the operating parameter specifies the first and second frequencies for the RF transmitter of the tracker and manages switching between the first and second frequencies for the RF transmitter of the tracker to implement spectrum diversity.

21. A navigation system comprising:

a tracker including an infrared (IR) transmitter, an IR receiver, one or more tracking markers, and one or more inertial sensors configured to generate inertial data; and

a localization device including an IR receiver, an IR transmitter, and one or more tracking sensors and with the localization device being configured to utilize IR communication according to a first modulation method to;

detect a position of the one or more tracking markers of the tracker with the one or more tracking sensors; and

communicate, using the IR transmitter, with the IR receiver of the tracker to manage an operating parameter of the tracker; and

wherein the localization device is configured to utilize IR communication according to a second modulation method different from the first modulation method to;

wirelessly receive, with the IR receiver, the inertial data generated by the tracker and transmitted by the IR transmitter of the tracker in accordance with the managed operating parameter of the tracker.

22. The navigation system of claim 21 wherein:

the first modulation method comprises one of amplitude modulation, frequency modulation, phase modulation, pulse width modulation, pulse position modulation, pulse duration modulation, trellis-coded modulation, and on-off keying modulation; and

the second modulation method comprises a different one of amplitude modulation, frequency modulation, phase modulation, pulse width modulation, pulse position modulation, pulse duration modulation, trellis-coded modulation, and on-off keying modulation.

23. The navigation system of claim 21, wherein the operating parameter specifies at least one of selection of the first modulation method and the second modulation method employed by the tracker.

24. The navigation system of claim 21, wherein IR communication according the first modulation method further comprises modulating a first carrier signal, and wherein IR communication according the second modulation method further comprises modulating a second carrier signal, wherein a frequency of the first carrier signal is different from a frequency of the second carrier signal.

25. The navigation system of claim 24, wherein the frequency of the first carrier signal is 1 MHz and the frequency of the second carrier signal is 10 MHz.

26. The navigation system of claim 24, wherein the operating parameter specifies at least one of:

the first carrier frequency for the IR transmitter of the tracker; and

the second carrier frequency for the IR transmitter of the tracker.

27. The navigation system of claim 21, wherein the localization device is further configured to:

detect the position of the one or more tracking markers of the tracker with the one or more tracking sensors by utilizing a first IR channel; and

communicate with the IR receiver of the tracker using the IR transmitter to manage the operating parameter of the tracker by utilizing a second IR channel being different from the first IR channel.

28. The navigation system of claim 21, wherein the operating parameter specifies at least one of:

a channel frequency for the IR transmitter of the tracker;

transmission power of the IR transmitter of the tracker; and

timing of wireless transmission of the generated inertial data from the IR transmitter of the tracker.

29. A method of operating a navigation system comprising a tracker including an infrared (IR) transmitter, an IR receiver, one or more tracking markers, and one or more inertial sensors, and with the navigation system comprising a localization device including an IR receiver, an IR transmitter, and one or more tracking sensors, the method comprising:

utilizing IR communication according to a first modulation method for detecting a position of the one or more tracking markers of the tracker with the one or more tracking sensors of the localization device;

generating inertial data with the one or more inertial sensors of the tracker;

utilizing IR communication according to the first modulation method for communicating, using the IR transmitter of the localization device, with the IR receiver of the tracker for managing an operating parameter of the tracker; and

utilizing IR communication according to a second modulation method different from the first modulation method for wirelessly receiving, with the IR receiver of the localization device, the inertial data generated by the tracker and transmitted by the IR transmitter of the tracker in accordance with the managed operating parameter of the tracker.

30. The method of claim 29, further comprising the operating parameter managing at least one of selection of the first modulation method and the second modulation method employed by the tracker.

31. The method of claim 29, wherein IR communication according the first modulation method further comprises modulating a first carrier signal, and wherein IR communication according the second modulation method further comprises modulating a second carrier signal, wherein a frequency of the first carrier signal is different from a frequency of the second carrier signal.

32. The method of claim 31, further comprising the operating parameter managing at least one of:

the first carrier frequency for the IR transmitter of the tracker; and

the second carrier frequency for the IR transmitter of the tracker.

33. The method of claim 29, comprising the localization device:

detecting the position of the one or more tracking markers of the tracker with the one or more tracking sensors by further utilizing a first IR channel; and

communicating with the IR receiver of the tracker using the IR transmitter to manage the operating parameter of the tracker by further utilizing a second IR channel being different from the first IR channel.

34. The method of claim 29, further comprising the operating parameter managing at least one of:

a channel frequency for the IR transmitter of the tracker;

transmission power of the IR transmitter of the tracker; and

timing of wireless transmission of the generated inertial data from the IR transmitter of the tracker.