WO2011128766A3 - Methods and systems for object tracking - Google Patents

Methods and systems for object tracking Download PDF

Info

Publication number
WO2011128766A3
WO2011128766A3 PCT/IB2011/000823 IB2011000823W WO2011128766A3 WO 2011128766 A3 WO2011128766 A3 WO 2011128766A3 IB 2011000823 W IB2011000823 W IB 2011000823W WO 2011128766 A3 WO2011128766 A3 WO 2011128766A3
Authority
WO
WIPO (PCT)
Prior art keywords
tracking system
systems
methods
tracking
orientation
Prior art date
Application number
PCT/IB2011/000823
Other languages
French (fr)
Other versions
WO2011128766A2 (en
Inventor
Frédéric PICARD
Philippe P. Martin
Göntje C. CLAASEN
Original Assignee
Picard Frederic
Martin Philippe P
Claasen Goentje C
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Picard Frederic, Martin Philippe P, Claasen Goentje C filed Critical Picard Frederic
Priority to US13/640,783 priority Critical patent/US9341704B2/en
Publication of WO2011128766A2 publication Critical patent/WO2011128766A2/en
Publication of WO2011128766A3 publication Critical patent/WO2011128766A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Studio Devices (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

Methods and systems for object tracking are disclosed in which the bandwidth of a "slow" tracking system (e.g., an optical tracking system) is augmented with sensor data generated by a "fast" tracking system (e.g., an inertial tracking system). The tracking data generated by the respective systems can be used to estimate and/or predict a position, velocity, and orientation of a tracked object that can be updated at the sample rate of the "fast" tracking system. The methods and systems disclosed herein generally involve an estimation algorithm that operates on raw sensor data (e.g., two-dimensional pixel coordinates in a captured image) as opposed to first processing and/or calculating object position and orientation using a triangulation or "back projection" algorithm.
PCT/IB2011/000823 2010-04-13 2011-04-13 Methods and systems for object tracking WO2011128766A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US13/640,783 US9341704B2 (en) 2010-04-13 2011-04-13 Methods and systems for object tracking

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US32338510P 2010-04-13 2010-04-13
US61/323,385 2010-04-13

Publications (2)

Publication Number Publication Date
WO2011128766A2 WO2011128766A2 (en) 2011-10-20
WO2011128766A3 true WO2011128766A3 (en) 2011-12-22

Family

ID=44546347

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2011/000823 WO2011128766A2 (en) 2010-04-13 2011-04-13 Methods and systems for object tracking

Country Status (2)

Country Link
US (1) US9341704B2 (en)
WO (1) WO2011128766A2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9008757B2 (en) 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
US11850011B2 (en) 2016-12-16 2023-12-26 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site

Families Citing this family (256)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
PL2023812T3 (en) 2006-05-19 2017-07-31 The Queen's Medical Center Motion tracking system for real time adaptive imaging and spectroscopy
US9766074B2 (en) 2008-03-28 2017-09-19 Regents Of The University Of Minnesota Vision-aided inertial navigation
WO2009146359A1 (en) 2008-05-28 2009-12-03 Illinois Tool Works Inc. Welding training system
US20120065926A1 (en) * 2010-09-14 2012-03-15 Samsung Electronics Co., Ltd Integrated motion sensing apparatus
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US8937663B2 (en) 2011-04-01 2015-01-20 Microsoft Corporation Camera and sensor augmented reality techniques
WO2013032933A2 (en) 2011-08-26 2013-03-07 Kinecticor, Inc. Methods, systems, and devices for intra-scan motion correction
WO2013033566A1 (en) 2011-09-02 2013-03-07 Stryker Corporation Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing
US11871901B2 (en) 2012-05-20 2024-01-16 Cilag Gmbh International Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US12133699B2 (en) 2012-06-21 2024-11-05 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US12220120B2 (en) 2012-06-21 2025-02-11 Globus Medical, Inc. Surgical robotic system with retractor
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US11786324B2 (en) 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US10874466B2 (en) 2012-06-21 2020-12-29 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US12262954B2 (en) 2012-06-21 2025-04-01 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11896446B2 (en) 2012-06-21 2024-02-13 Globus Medical, Inc Surgical robotic automation with tracking markers
US10758315B2 (en) 2012-06-21 2020-09-01 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US10799298B2 (en) 2012-06-21 2020-10-13 Globus Medical Inc. Robotic fluoroscopic navigation
US11963755B2 (en) 2012-06-21 2024-04-23 Globus Medical Inc. Apparatus for recording probe movement
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US11589771B2 (en) 2012-06-21 2023-02-28 Globus Medical Inc. Method for recording probe movement and determining an extent of matter removed
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US9820818B2 (en) 2012-08-03 2017-11-21 Stryker Corporation System and method for controlling a surgical manipulator based on implant parameters
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
EP3620121B1 (en) 2012-08-03 2024-01-31 Stryker Corporation Systems for robotic surgery
US9583014B2 (en) 2012-11-09 2017-02-28 Illinois Tool Works Inc. System and device for welding training
US9305365B2 (en) 2013-01-24 2016-04-05 Kineticor, Inc. Systems, devices, and methods for tracking moving targets
US9717461B2 (en) 2013-01-24 2017-08-01 Kineticor, Inc. Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
US10327708B2 (en) 2013-01-24 2019-06-25 Kineticor, Inc. Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
CN105392423B (en) 2013-02-01 2018-08-17 凯内蒂科尔股份有限公司 The motion tracking system of real-time adaptive motion compensation in biomedical imaging
CN105025835B (en) 2013-03-13 2018-03-02 史赛克公司 System for arranging objects in an operating room in preparation for a surgical procedure
KR102060390B1 (en) 2013-03-13 2019-12-30 스트리커 코포레이션 System for establishing virtual constraint boundaries
US9583023B2 (en) 2013-03-15 2017-02-28 Illinois Tool Works Inc. Welding torch for a welding training system
JP6204686B2 (en) 2013-04-12 2017-09-27 任天堂株式会社 Information processing program, information processing system, information processing apparatus, and information processing execution method
JP6185301B2 (en) * 2013-06-21 2017-08-23 任天堂株式会社 Information processing program, information processing apparatus, information processing system, and method for calculating indicated position
US20150062123A1 (en) * 2013-08-30 2015-03-05 Ngrain (Canada) Corporation Augmented reality (ar) annotation computer system and computer-readable medium and method for creating an annotated 3d graphics model
EP3065919B1 (en) * 2013-11-06 2020-01-08 Koninklijke Philips N.V. A system and a method for treating a user's head
IL229563A (en) * 2013-11-21 2016-10-31 Elbit Systems Ltd Compact optical tracker
US10056010B2 (en) 2013-12-03 2018-08-21 Illinois Tool Works Inc. Systems and methods for a weld training system
CN106030683B (en) * 2013-12-20 2020-10-30 直观外科手术操作公司 Simulator system for medical procedure training
US10105782B2 (en) 2014-01-07 2018-10-23 Illinois Tool Works Inc. Feedback from a welding torch of a welding system
US10170019B2 (en) 2014-01-07 2019-01-01 Illinois Tool Works Inc. Feedback from a welding torch of a welding system
US9589481B2 (en) 2014-01-07 2017-03-07 Illinois Tool Works Inc. Welding software for detection and control of devices and for analysis of data
EP3108266B1 (en) * 2014-01-13 2020-03-18 Brainlab AG Estimation and compensation of tracking inaccuracies
KR101434514B1 (en) * 2014-03-21 2014-08-26 (주) 골프존 Time synchronization method for data of different kinds of devices and data processing device for generating time-synchronized data
US10004462B2 (en) 2014-03-24 2018-06-26 Kineticor, Inc. Systems, methods, and devices for removing prospective motion correction from medical imaging scans
US10307853B2 (en) 2014-06-27 2019-06-04 Illinois Tool Works Inc. System and method for managing welding data
US10665128B2 (en) 2014-06-27 2020-05-26 Illinois Tool Works Inc. System and method of monitoring welding information
EP3188660A4 (en) 2014-07-23 2018-05-16 Kineticor, Inc. Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
US11014183B2 (en) 2014-08-07 2021-05-25 Illinois Tool Works Inc. System and method of marking a welding workpiece
WO2016049180A1 (en) 2014-09-23 2016-03-31 Think Surgical, Inc. Multi-planar variable geometry zigzag cut articulating drilling system
US11504192B2 (en) 2014-10-30 2022-11-22 Cilag Gmbh International Method of hub communication with surgical instrument systems
US10204406B2 (en) 2014-11-05 2019-02-12 Illinois Tool Works Inc. System and method of controlling welding system camera exposure and marker illumination
US10210773B2 (en) * 2014-11-05 2019-02-19 Illinois Tool Works Inc. System and method for welding torch display
US10490098B2 (en) 2014-11-05 2019-11-26 Illinois Tool Works Inc. System and method of recording multi-run data
US10373304B2 (en) 2014-11-05 2019-08-06 Illinois Tool Works Inc. System and method of arranging welding device markers
US10417934B2 (en) 2014-11-05 2019-09-17 Illinois Tool Works Inc. System and method of reviewing weld data
US10402959B2 (en) 2014-11-05 2019-09-03 Illinois Tool Works Inc. System and method of active torch marker control
US9677864B1 (en) 2014-11-19 2017-06-13 Orbital Research Inc. Closed, self-contained ballistic apogee detection module and method
EP3185811B1 (en) * 2014-11-21 2025-04-09 Think Surgical, Inc. Visible light communication system for transmitting data between visual tracking systems and tracking markers
GB2536650A (en) 2015-03-24 2016-09-28 Augmedics Ltd Method and system for combining video-based and optic-based augmented reality in a near eye display
US9489045B2 (en) * 2015-03-26 2016-11-08 Honeywell International Inc. Methods and apparatus for providing a snapshot truthing system for a tracker
IL237971A (en) * 2015-03-26 2016-10-31 Gandelsman Mark Device and method for determining the relative orientation between two different locations
US10427239B2 (en) 2015-04-02 2019-10-01 Illinois Tool Works Inc. Systems and methods for tracking weld training arc parameters
US10470724B2 (en) 2015-04-13 2019-11-12 Precisionrad Llc Laser and accelerometer guided medical device
WO2016183812A1 (en) * 2015-05-20 2016-11-24 北京诺亦腾科技有限公司 Mixed motion capturing system and method
CN114376733B (en) * 2015-06-09 2025-01-10 直观外科手术操作公司 Configuring surgical systems using surgical procedure atlases
US9943247B2 (en) 2015-07-28 2018-04-17 The University Of Hawai'i Systems, devices, and methods for detecting false movements for motion correction during a medical imaging scan
US10438505B2 (en) 2015-08-12 2019-10-08 Illinois Tool Works Welding training system interface
US10593230B2 (en) 2015-08-12 2020-03-17 Illinois Tool Works Inc. Stick welding electrode holder systems and methods
US10373517B2 (en) * 2015-08-12 2019-08-06 Illinois Tool Works Inc. Simulation stick welding electrode holder systems and methods
US10657839B2 (en) 2015-08-12 2020-05-19 Illinois Tool Works Inc. Stick welding electrode holders with real-time feedback features
US9760791B2 (en) * 2015-09-01 2017-09-12 Sony Corporation Method and system for object tracking
GB2542626A (en) * 2015-09-28 2017-03-29 Red Sphere Tech Ltd Surgical aid
US10073531B2 (en) * 2015-10-07 2018-09-11 Google Llc Electronic device pose identification based on imagery and non-image sensor data
JP2018538037A (en) 2015-11-12 2018-12-27 インテュイティブ サージカル オペレーションズ， インコーポレイテッド Surgical system with training or support functions
WO2017091479A1 (en) 2015-11-23 2017-06-01 Kineticor, Inc. Systems, devices, and methods for tracking and compensating for patient motion during a medical imaging scan
US12220137B2 (en) 2015-11-24 2025-02-11 Think Surgical, Inc. Cut guide for arthroplasty procedures
JP6934861B2 (en) 2015-11-24 2021-09-15 シンク サージカル， インコーポレイテッド Active robot pin placement in total knee osteoarthritis
US12082893B2 (en) 2015-11-24 2024-09-10 Think Surgical, Inc. Robotic pin placement
US12178532B2 (en) 2015-11-24 2024-12-31 Think Surgical, Inc. Robotic alignment of a tool or pin with a virtual plane
KR102430277B1 (en) * 2015-11-27 2022-08-09 큐렉소 주식회사 Marker positioning system and method for orthopedic surgery
US10285715B2 (en) * 2015-12-21 2019-05-14 Warsaw Orthopedic, Inc. Surgical instrument and method
US10667868B2 (en) 2015-12-31 2020-06-02 Stryker Corporation System and methods for performing surgery on a patient at a target site defined by a virtual object
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US11064904B2 (en) 2016-02-29 2021-07-20 Extremity Development Company, Llc Smart drill, jig, and method of orthopedic surgery
US10071306B2 (en) 2016-03-25 2018-09-11 Zero Latency PTY LTD System and method for determining orientation using tracking cameras and inertial measurements
US10486061B2 (en) 2016-03-25 2019-11-26 Zero Latency Pty Ltd. Interference damping for continuous game play
US9916496B2 (en) 2016-03-25 2018-03-13 Zero Latency PTY LTD Systems and methods for operating a virtual reality environment using colored marker lights attached to game objects
US10421012B2 (en) 2016-03-25 2019-09-24 Zero Latency PTY LTD System and method for tracking using multiple slave servers and a master server
US10717001B2 (en) 2016-03-25 2020-07-21 Zero Latency PTY LTD System and method for saving tracked data in the game server for replay, review and training
US10289097B2 (en) * 2016-04-13 2019-05-14 Caterpillar Sarl Data system and method for work tool of machine
US10223798B2 (en) * 2016-05-27 2019-03-05 Intellijoint Surgical Inc. Systems and methods for tracker characterization and verification
US10146335B2 (en) 2016-06-09 2018-12-04 Microsoft Technology Licensing, Llc Modular extension of inertial controller for six DOF mixed reality input
US10146334B2 (en) 2016-06-09 2018-12-04 Microsoft Technology Licensing, Llc Passive optical and inertial tracking in slim form-factor
US10751609B2 (en) 2016-08-12 2020-08-25 Zero Latency PTY LTD Mapping arena movements into a 3-D virtual world
CN106484830A (en) * 2016-09-29 2017-03-08 北京百度网讯科技有限公司 Position sharing method, device and system
US11065062B2 (en) * 2017-05-17 2021-07-20 Covidien Lp Systems and methods of tracking and analyzing use of medical instruments
US11020187B2 (en) * 2017-09-21 2021-06-01 Synaptive Medical Inc. Tracked suction tool
US11311342B2 (en) 2017-10-30 2022-04-26 Cilag Gmbh International Method for communicating with surgical instrument systems
US11071560B2 (en) 2017-10-30 2021-07-27 Cilag Gmbh International Surgical clip applier comprising adaptive control in response to a strain gauge circuit
US11911045B2 (en) 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
US11141160B2 (en) 2017-10-30 2021-10-12 Cilag Gmbh International Clip applier comprising a motor controller
US11801098B2 (en) 2017-10-30 2023-10-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11291510B2 (en) 2017-10-30 2022-04-05 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11564756B2 (en) 2017-10-30 2023-01-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11229436B2 (en) 2017-10-30 2022-01-25 Cilag Gmbh International Surgical system comprising a surgical tool and a surgical hub
US11317919B2 (en) 2017-10-30 2022-05-03 Cilag Gmbh International Clip applier comprising a clip crimping system
US11510741B2 (en) 2017-10-30 2022-11-29 Cilag Gmbh International Method for producing a surgical instrument comprising a smart electrical system
US10481679B2 (en) * 2017-12-18 2019-11-19 Alt Llc Method and system for optical-inertial tracking of a moving object
RU2758036C1 (en) * 2017-12-18 2021-10-25 Общество С Ограниченной Ответственностью "Альт" Method and system for optical-inertial tracking of a mobile object
US11446052B2 (en) 2017-12-28 2022-09-20 Cilag Gmbh International Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue
US11147607B2 (en) 2017-12-28 2021-10-19 Cilag Gmbh International Bipolar combination device that automatically adjusts pressure based on energy modality
US11969216B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution
US11304745B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Surgical evacuation sensing and display
US11678881B2 (en) 2017-12-28 2023-06-20 Cilag Gmbh International Spatial awareness of surgical hubs in operating rooms
US11633237B2 (en) 2017-12-28 2023-04-25 Cilag Gmbh International Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures
US11896322B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub
US11364075B2 (en) 2017-12-28 2022-06-21 Cilag Gmbh International Radio frequency energy device for delivering combined electrical signals
US11100631B2 (en) 2017-12-28 2021-08-24 Cilag Gmbh International Use of laser light and red-green-blue coloration to determine properties of back scattered light
US20190201090A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Capacitive coupled return path pad with separable array elements
US11278281B2 (en) 2017-12-28 2022-03-22 Cilag Gmbh International Interactive surgical system
US11069012B2 (en) 2017-12-28 2021-07-20 Cilag Gmbh International Interactive surgical systems with condition handling of devices and data capabilities
US11969142B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11166772B2 (en) 2017-12-28 2021-11-09 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11076921B2 (en) 2017-12-28 2021-08-03 Cilag Gmbh International Adaptive control program updates for surgical hubs
US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
US11304720B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Activation of energy devices
US11937769B2 (en) 2017-12-28 2024-03-26 Cilag Gmbh International Method of hub communication, processing, storage and display
US11376002B2 (en) 2017-12-28 2022-07-05 Cilag Gmbh International Surgical instrument cartridge sensor assemblies
US11096693B2 (en) 2017-12-28 2021-08-24 Cilag Gmbh International Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing
US11160605B2 (en) 2017-12-28 2021-11-02 Cilag Gmbh International Surgical evacuation sensing and motor control
US11832840B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical instrument having a flexible circuit
US11045591B2 (en) 2017-12-28 2021-06-29 Cilag Gmbh International Dual in-series large and small droplet filters
US11432885B2 (en) 2017-12-28 2022-09-06 Cilag Gmbh International Sensing arrangements for robot-assisted surgical platforms
US11132462B2 (en) 2017-12-28 2021-09-28 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11291495B2 (en) 2017-12-28 2022-04-05 Cilag Gmbh International Interruption of energy due to inadvertent capacitive coupling
US11602393B2 (en) 2017-12-28 2023-03-14 Cilag Gmbh International Surgical evacuation sensing and generator control
US11234756B2 (en) 2017-12-28 2022-02-01 Cilag Gmbh International Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter
US11419667B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location
US11998193B2 (en) 2017-12-28 2024-06-04 Cilag Gmbh International Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US11424027B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Method for operating surgical instrument systems
US11109866B2 (en) 2017-12-28 2021-09-07 Cilag Gmbh International Method for circular stapler control algorithm adjustment based on situational awareness
US11179208B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Cloud-based medical analytics for security and authentication trends and reactive measures
US12096916B2 (en) 2017-12-28 2024-09-24 Cilag Gmbh International Method of sensing particulate from smoke evacuated from a patient, adjusting the pump speed based on the sensed information, and communicating the functional parameters of the system to the hub
US11056244B2 (en) * 2017-12-28 2021-07-06 Cilag Gmbh International Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks
US11612444B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Adjustment of a surgical device function based on situational awareness
US11771487B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Mechanisms for controlling different electromechanical systems of an electrosurgical instrument
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US11559307B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method of robotic hub communication, detection, and control
US11284936B2 (en) 2017-12-28 2022-03-29 Cilag Gmbh International Surgical instrument having a flexible electrode
US11304699B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11266468B2 (en) 2017-12-28 2022-03-08 Cilag Gmbh International Cooperative utilization of data derived from secondary sources by intelligent surgical hubs
US11389164B2 (en) 2017-12-28 2022-07-19 Cilag Gmbh International Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices
US11423007B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Adjustment of device control programs based on stratified contextual data in addition to the data
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US11576677B2 (en) 2017-12-28 2023-02-14 Cilag Gmbh International Method of hub communication, processing, display, and cloud analytics
US11659023B2 (en) 2017-12-28 2023-05-23 Cilag Gmbh International Method of hub communication
US11529187B2 (en) 2017-12-28 2022-12-20 Cilag Gmbh International Surgical evacuation sensor arrangements
US11571234B2 (en) 2017-12-28 2023-02-07 Cilag Gmbh International Temperature control of ultrasonic end effector and control system therefor
US10987178B2 (en) 2017-12-28 2021-04-27 Ethicon Llc Surgical hub control arrangements
US11672605B2 (en) 2017-12-28 2023-06-13 Cilag Gmbh International Sterile field interactive control displays
US10758310B2 (en) 2017-12-28 2020-09-01 Ethicon Llc Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices
US10943454B2 (en) 2017-12-28 2021-03-09 Ethicon Llc Detection and escalation of security responses of surgical instruments to increasing severity threats
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
US11540855B2 (en) 2017-12-28 2023-01-03 Cilag Gmbh International Controlling activation of an ultrasonic surgical instrument according to the presence of tissue
US11051876B2 (en) 2017-12-28 2021-07-06 Cilag Gmbh International Surgical evacuation flow paths
US11559308B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method for smart energy device infrastructure
US11464535B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Detection of end effector emersion in liquid
US11589888B2 (en) 2017-12-28 2023-02-28 Cilag Gmbh International Method for controlling smart energy devices
US10892995B2 (en) 2017-12-28 2021-01-12 Ethicon Llc Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11818052B2 (en) 2017-12-28 2023-11-14 Cilag Gmbh International Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11179175B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Controlling an ultrasonic surgical instrument according to tissue location
US11273001B2 (en) 2017-12-28 2022-03-15 Cilag Gmbh International Surgical hub and modular device response adjustment based on situational awareness
US20190206569A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Method of cloud based data analytics for use with the hub
US11317937B2 (en) 2018-03-08 2022-05-03 Cilag Gmbh International Determining the state of an ultrasonic end effector
US12127729B2 (en) 2017-12-28 2024-10-29 Cilag Gmbh International Method for smoke evacuation for surgical hub
US20190201113A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Controls for robot-assisted surgical platforms
US11308075B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity
WO2019133143A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Surgical hub and modular device response adjustment based on situational awareness
US20190201142A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Automatic tool adjustments for robot-assisted surgical platforms
US11202570B2 (en) 2017-12-28 2021-12-21 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US11257589B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes
US12062442B2 (en) 2017-12-28 2024-08-13 Cilag Gmbh International Method for operating surgical instrument systems
US11786245B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Surgical systems with prioritized data transmission capabilities
US11464559B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Estimating state of ultrasonic end effector and control system therefor
US11419630B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Surgical system distributed processing
US11666331B2 (en) 2017-12-28 2023-06-06 Cilag Gmbh International Systems for detecting proximity of surgical end effector to cancerous tissue
US10966791B2 (en) 2017-12-28 2021-04-06 Ethicon Llc Cloud-based medical analytics for medical facility segmented individualization of instrument function
US11253315B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Increasing radio frequency to create pad-less monopolar loop
US11410259B2 (en) 2017-12-28 2022-08-09 Cilag Gmbh International Adaptive control program updates for surgical devices
US12207817B2 (en) 2017-12-28 2025-01-28 Cilag Gmbh International Safety systems for smart powered surgical stapling
US11311306B2 (en) 2017-12-28 2022-04-26 Cilag Gmbh International Surgical systems for detecting end effector tissue distribution irregularities
US20190201112A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Computer implemented interactive surgical systems
US11324557B2 (en) 2017-12-28 2022-05-10 Cilag Gmbh International Surgical instrument with a sensing array
US11304763B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use
US10881472B2 (en) * 2018-02-20 2021-01-05 Verb Surgical Inc. Correcting a robotic surgery user interface device tracking input
US11701162B2 (en) 2018-03-08 2023-07-18 Cilag Gmbh International Smart blade application for reusable and disposable devices
US11298148B2 (en) 2018-03-08 2022-04-12 Cilag Gmbh International Live time tissue classification using electrical parameters
US12303159B2 (en) 2018-03-08 2025-05-20 Cilag Gmbh International Methods for estimating and controlling state of ultrasonic end effector
US11259830B2 (en) 2018-03-08 2022-03-01 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
US11219453B2 (en) 2018-03-28 2022-01-11 Cilag Gmbh International Surgical stapling devices with cartridge compatible closure and firing lockout arrangements
US11096688B2 (en) 2018-03-28 2021-08-24 Cilag Gmbh International Rotary driven firing members with different anvil and channel engagement features
US11197668B2 (en) 2018-03-28 2021-12-14 Cilag Gmbh International Surgical stapling assembly comprising a lockout and an exterior access orifice to permit artificial unlocking of the lockout
US11207067B2 (en) 2018-03-28 2021-12-28 Cilag Gmbh International Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing
US10973520B2 (en) 2018-03-28 2021-04-13 Ethicon Llc Surgical staple cartridge with firing member driven camming assembly that has an onboard tissue cutting feature
US11471156B2 (en) 2018-03-28 2022-10-18 Cilag Gmbh International Surgical stapling devices with improved rotary driven closure systems
US11278280B2 (en) 2018-03-28 2022-03-22 Cilag Gmbh International Surgical instrument comprising a jaw closure lockout
US11589865B2 (en) 2018-03-28 2023-02-28 Cilag Gmbh International Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems
IT201800004552A1 (en) * 2018-04-16 2019-10-16 MULTI-TRACKING THREE-DIMENSIONAL VISION SYSTEM FOR VIRTUAL NAVIGATION
US11980507B2 (en) 2018-05-02 2024-05-14 Augmedics Ltd. Registration of a fiducial marker for an augmented reality system
CN109145387B (en) * 2018-07-25 2022-11-15 西北工业大学 Intelligent recognition method of space tumbling target's inertial characteristics based on eigenfrequency
CN109506648A (en) * 2018-10-10 2019-03-22 中国航空工业集团公司洛阳电光设备研究所 A kind of target quick capturing method based on inertia measurement
US10949980B2 (en) * 2018-10-30 2021-03-16 Alt Llc System and method for reverse optical tracking of a moving object
US11766296B2 (en) 2018-11-26 2023-09-26 Augmedics Ltd. Tracking system for image-guided surgery
US11369377B2 (en) 2019-02-19 2022-06-28 Cilag Gmbh International Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout
US11751872B2 (en) 2019-02-19 2023-09-12 Cilag Gmbh International Insertable deactivator element for surgical stapler lockouts
US11357503B2 (en) 2019-02-19 2022-06-14 Cilag Gmbh International Staple cartridge retainers with frangible retention features and methods of using same
US11317915B2 (en) 2019-02-19 2022-05-03 Cilag Gmbh International Universal cartridge based key feature that unlocks multiple lockout arrangements in different surgical staplers
US11298130B2 (en) 2019-02-19 2022-04-12 Cilag Gmbh International Staple cartridge retainer with frangible authentication key
EP3920829A4 (en) 2019-02-21 2022-11-16 Extremity Development Company, LLC INSTRUMENT-BORN OPTICAL KINEMATIC TIME OF FLIGHT POSITIONING SYSTEM FOR PRECISE TARGETING AND OPERATIONAL PROCEDURES
EP3747389A1 (en) * 2019-06-05 2020-12-09 Globus Medical, Inc. Surgical robotic automation with tracking markers
USD964564S1 (en) 2019-06-25 2022-09-20 Cilag Gmbh International Surgical staple cartridge retainer with a closure system authentication key
USD950728S1 (en) 2019-06-25 2022-05-03 Cilag Gmbh International Surgical staple cartridge
USD952144S1 (en) 2019-06-25 2022-05-17 Cilag Gmbh International Surgical staple cartridge retainer with firing system authentication key
US11288978B2 (en) 2019-07-22 2022-03-29 Illinois Tool Works Inc. Gas tungsten arc welding training systems
US11776423B2 (en) 2019-07-22 2023-10-03 Illinois Tool Works Inc. Connection boxes for gas tungsten arc welding training systems
US12178666B2 (en) 2019-07-29 2024-12-31 Augmedics Ltd. Fiducial marker
US11980506B2 (en) 2019-07-29 2024-05-14 Augmedics Ltd. Fiducial marker
WO2021045698A1 (en) * 2019-09-03 2021-03-11 Ggtek Gelismis Guvenlik Teknolojileri A.S. A speed detection system
US11382712B2 (en) 2019-12-22 2022-07-12 Augmedics Ltd. Mirroring in image guided surgery
US11389252B2 (en) 2020-06-15 2022-07-19 Augmedics Ltd. Rotating marker for image guided surgery
US12239385B2 (en) 2020-09-09 2025-03-04 Augmedics Ltd. Universal tool adapter
US11850509B2 (en) 2021-02-17 2023-12-26 Falcon's Beyond Brands, Llc Interactive theater system with real-time feedback and dynamic special effects
US12150728B2 (en) 2021-04-14 2024-11-26 Globus Medical, Inc. End effector for a surgical robot
US11896445B2 (en) 2021-07-07 2024-02-13 Augmedics Ltd. Iliac pin and adapter
US12150821B2 (en) 2021-07-29 2024-11-26 Augmedics Ltd. Rotating marker and adapter for image-guided surgery
EP4356071B1 (en) 2021-09-03 2024-10-30 Sarissa GmbH Device for monitoring the position and/or location and/or movement of a tool
EP4511809A1 (en) 2022-04-21 2025-02-26 Augmedics Ltd. Systems and methods for medical image visualization
CN115507769B (en) * 2022-05-24 2023-09-22 北京工业大学 A rapid measurement method for gears that combines vision and optical principles
WO2024057210A1 (en) 2022-09-13 2024-03-21 Augmedics Ltd. Augmented reality eyewear for image-guided medical intervention

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4225112C1 (en) * 1992-07-30 1993-12-09 Bodenseewerk Geraetetech Instrument position relative to processing object measuring apparatus - has measuring device for measuring position of instrument including inertia sensor unit
US6611141B1 (en) * 1998-12-23 2003-08-26 Howmedica Leibinger Inc Hybrid 3-D probe tracked by multiple sensors
US20060058604A1 (en) * 2004-08-25 2006-03-16 General Electric Company System and method for hybrid tracking in surgical navigation
WO2009045827A2 (en) * 2007-09-30 2009-04-09 Intuitive Surgical, Inc. Methods and systems for tool locating and tool tracking robotic instruments in robotic surgical systems

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6973202B2 (en) 1998-10-23 2005-12-06 Varian Medical Systems Technologies, Inc. Single-camera tracking of an object
US20060282873A1 (en) 2002-07-27 2006-12-14 Sony Computer Entertainment Inc. Hand-held controller having detectable elements for tracking purposes
US6815651B2 (en) 2003-01-10 2004-11-09 Ascension Technology Corporation Optical position measurement system employing one or more linear detector arrays
US7274504B2 (en) 2005-01-14 2007-09-25 L-3 Communications Corporation System and method for advanced tight coupling of GPS and inertial navigation sensors
EP1866871A4 (en) * 2005-03-30 2012-01-04 Worcester Polytech Inst ULTRASONIC DIAGNOSTIC IMAGING IN THREE-DIMENSIONS HANDLING WITH POSITION AND ANGLE DETERMINATION SENSORS
WO2007014470A2 (en) * 2005-08-01 2007-02-08 Resonant Medical Inc. System and method for detecting drifts in calibrated tracking systems
US7835785B2 (en) 2005-10-04 2010-11-16 Ascension Technology Corporation DC magnetic-based position and orientation monitoring system for tracking medical instruments
US7594933B2 (en) 2006-08-08 2009-09-29 Aesculap Ag Method and apparatus for positioning a bone prosthesis using a localization system
EP1970005B1 (en) 2007-03-15 2012-10-03 Xsens Holding B.V. A system and a method for motion tracking using a calibration unit
DE102008052680A1 (en) * 2008-10-22 2010-04-29 Surgitaix Ag Device for the controlled adjustment of a surgical positioning unit

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4225112C1 (en) * 1992-07-30 1993-12-09 Bodenseewerk Geraetetech Instrument position relative to processing object measuring apparatus - has measuring device for measuring position of instrument including inertia sensor unit
US6611141B1 (en) * 1998-12-23 2003-08-26 Howmedica Leibinger Inc Hybrid 3-D probe tracked by multiple sensors
US20060058604A1 (en) * 2004-08-25 2006-03-16 General Electric Company System and method for hybrid tracking in surgical navigation
WO2009045827A2 (en) * 2007-09-30 2009-04-09 Intuitive Surgical, Inc. Methods and systems for tool locating and tool tracking robotic instruments in robotic surgical systems

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9008757B2 (en) 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
US9271804B2 (en) 2012-09-26 2016-03-01 Stryker Corporation Method for tracking objects using optical and non-optical sensors
US11850011B2 (en) 2016-12-16 2023-12-26 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
US12349994B2 (en) 2016-12-16 2025-07-08 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site

Also Published As

Publication number Publication date
US20130064427A1 (en) 2013-03-14
WO2011128766A2 (en) 2011-10-20
US9341704B2 (en) 2016-05-17

Similar Documents

Publication Publication Date Title
WO2011128766A3 (en) Methods and systems for object tracking
KR101950641B1 (en) Scene analysis for improved eye tracking
EP2348280A3 (en) Systems and methods for monocular airborne object detection
EP4462359A3 (en) Image based tracking in augmented reality systems
WO2008103929A3 (en) Video processing systems and methods
WO2014068383A3 (en) Motion compensation in a three dimensional scan
WO2019216937A3 (en) Intelligent ladar system with low latency motion planning updates
WO2017172193A8 (en) Head-mounted display tracking
WO2010104754A3 (en) System and method for image guided navigation
MX2017011507A (en) Object distance estimation using data from a single camera.
EP2937815A3 (en) Methods and systems for object detection using laser point clouds
WO2007025300A8 (en) Capturing and processing facial motion data
WO2010141120A3 (en) System and method for generating three dimensional images using lidar and video measurements
JP2016514251A5 (en)
WO2014077928A3 (en) Video and lidar target detection and tracking system
WO2008070012A3 (en) Estimating a location of an object in an image
GB2557525A (en) Electronic display stabilization using pixel velocities
WO2013001424A3 (en) Ultrasound-image-guide system and volume-motion-base calibration method
WO2011059857A3 (en) Methods and systems for determining and tracking extremities of a target
WO2007056768A3 (en) Determining camera motion
IN2014MN02390A (en)
WO2013149916A3 (en) Method and device for optically determining a position and/or orientation of an object in space
WO2014006423A3 (en) Method of estimating position of user device
GB2533516A (en) Target direction determination method and system
JP2007074696A5 (en)

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11723110

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 13640783

Country of ref document: US

122 Ep: pct application non-entry in european phase

Ref document number: 11723110

Country of ref document: EP

Kind code of ref document: A2