US 11,806,093 B1
Apparatus and method for tracking hand-held surgical tools
Christopher Schlenger, Stockton, CA (US); and Tamas Ungi, Stockton, CA (US)
Assigned to Verdure Imaging, Inc., Stockton, CA (US)
Filed by Christopher Schlenger, Stockton, CA (US); and Tamas Ungi, Stockton, CA (US)
Filed on Oct. 14, 2022, as Appl. No. 17/966,103.
Int. Cl. A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/364 (2016.02); A61B 2090/378 (2016.02); A61B 2090/3937 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A surgical method, comprising:
capturing using an image capture device, image data that includes both a first detectable target on a hand-held surgical tool and a second detectable target proximate to a patient,
wherein the first detectable target is located on the hand-held surgical tool at a first predefined target location,
wherein the second detectable target is located on the patient at a second predefined target location, and
wherein a location relationship between a tissue of interest of the patient and the second predefined location of the second detectable target is known;
determining a location of the first detectable target and an orientation of the first detectable target in a three dimensional (3D) spaced based on the image data;
retrieving hand-held surgical tool model data that represents the hand-held surgical tool, wherein the hand-held surgical tool model data comprises first detectable target location model data that corresponds to the predefined location of the first detectable target;
determining a current location of the hand-held surgical tool and a current orientation of the hand-held surgical tool in the 3D space based on the determined location of the first detectable target and the determined orientation of the first detectable target;
determining a location of the second detectable target in the 3D space based on the image data;
determining a location of the tissue of interest in the 3D space based on the determined location of the second detectable target on the patient; and
accessing tissue model data defining a tissue model corresponding to the tissue of interest of the patient,
wherein the tissue model was previously generated from an examination of the patient prior to the current surgical procedure.