Granted Patent B2

US 12,535,577 · App. 16/573,095 · Granted Jan 27, 2026

Inventor: Morteza Meftah (New York, NY)

Assignee: CAIRA SURGICAL

G01S13/878A61B5/0051A61B5/05A61B5/065A61B5/067A61B17/15A61B17/154A61B90/98G01S13/862

Abstract

Claims (41)

1 . A system for medical object tracking, comprising:

a plurality of radio frequency transceivers, each respective one of the plurality of radio frequency transceivers configured to emit a radio frequency signal at a respective frequency and receiving the shifted response frequence from the plurality of radio frequency beacons concurrently;

a first radio frequency beacon removably attachable to a first medical object, the first radio frequency beacon comprising a first accelerometer and a first radio interface, the first radio frequency beacon being configured to:

radiate a first return radio frequency signal at a respective predetermined shifted frequency in response to receiving each of the radio frequency signals at the respective frequency thereby radiating a plurality of first return radio frequency signals, such that said respective predetermined shifted frequency differs from said respective frequency by a first non-zero value when said first radio frequency beacon is stationary with respect to said respective one of the plurality of radio frequency transceivers; and

transmit, via the first radio interface, first accelerometer data generated by the first accelerometer;

a second radio frequency beacon removably attachable to a second medical object, the second radio frequency beacon comprising a second accelerometer and a second radio interface, the second radio frequency beacon being configured to:

radiate a second return radio frequency signal at a respective predetermined shifted frequency in response to receiving each of the radio frequency signals at the respective frequency thereby radiating a plurality of second return radio frequency signals, such that said respective predetermined shifted frequency differs from said respective frequency by a second non-zero value when said second radio frequency beacon is stationary with respect to said respective one of the plurality of radio frequency transceivers; and

transmit, via the second radio interface, second accelerometer data generated by the second accelerometer; and

a control device in communication with the plurality of radio frequency transceivers and the radio interfaces, the control device including processing circuitry configured to:

determine a location and an orientation of the first medical object in three-dimensional space based at least in part on the plurality of first return radio frequency signals and the first accelerometer data; and

determine a location and an orientation of the second medical object in three-dimensional space based at least in part on the plurality of second return radio frequency signals and the second accelerometer data;

wherein the control device is configured to track and store location information corresponding to the location of the first medical object in three-dimensional space and first orientation information corresponding to the orientation of the first medical object in three-dimensional space;

wherein the control device is configured to track and store location information corresponding to the location of the second medical object in three-dimensional space and second orientation information corresponding to the orientation of the second medical object in three-dimensional space; and

wherein the determination of the locations and the orientations of the first medical object and the second medical object in three-dimensional space based at least in part on the plurality of return radio frequency signals further includes an application of doppler filtering to the plurality of return radio frequency signals, said application of doppler filtering configured to discriminate between the plurality of return radio frequency signals from said radio frequency beacons and other sources of radio frequency signals such that said respective predetermined shifted frequencies differ from said respective frequency by said respective non-zero values when at least one of said radio frequency beacons is stationary with respect to said respective one of the plurality of radio frequency transceivers; and

wherein the first non-zero value and the second non-zero value are different values.

2 . The system of claim 1 , wherein at least one of the medical objects is one of a surface of a bone and a medical device.

3 . The system of claim 1 , wherein the determination of the location and the orientation of the first medical object in three-dimensional space includes determining, for the plurality of first return radio frequency signals, a respective location in three-dimensional space of the first medical object;

wherein the determined location and orientation of the first medical object in three-dimensional space is based on the determined respective location from the plurality of first return radio frequency signals.

4 . The system of claim 3 , wherein the determination of the location and the orientation of the first medical object in three-dimensional space further includes determining a three-dimensional orientation of the first radio frequency beacon in the three-dimensional space based at least in part on the first accelerometer data.

5 . The system of claim 1 , wherein the first medical object is a cutting tool.

6 . A method implemented in a system for medical object tracking, the method comprising:

emitting, at each respective radio frequency transceiver of a plurality of radio frequency transceivers, a radio frequency signal at a respective frequency and receiving the shifted response frequence from the plurality of radio frequency beacons concurrently;

radiating, from a first radio frequency beacon removably attachable to a first medical object, a first return radio frequency signal at a respective first predetermined shifted frequency in response to receiving each of the radio frequency signals at the respective frequency thereby radiating a plurality of first return radio frequency signals, such that said respective first predetermined shifted frequency differs from said respective frequency by a first non-zero value when said first radio frequency beacon is stationary with respect to said respective radio frequency transceiver;

providing, via a first radio interface of the first radio frequency beacon, first accelerometer data from first accelerometer of the first radio frequency beacon;

determining a location and an orientation of the first medical object in three-dimensional space based at least in part on the first plurality of return radio frequency signals and the first accelerometer data;

tracking the location of the first medical object in three-dimensional space to generate first location information;

tracking the orientation of the first medical object in three-dimensional space to generate first orientation information;

radiating, from a second radio frequency beacon removably attachable to a second medical object, a second return radio frequency signal at a respective second predetermined shifted frequency in response to receiving each of the radio frequency signals at the respective frequency thereby radiating a plurality of second return radio frequency signals, such that said respective second predetermined shifted frequency differs from said respective frequency by a second non-zero value when said second radio frequency beacon is stationary with respect to said respective radio frequency transceiver;

providing, via a second radio interface of the second radio frequency beacon, second accelerometer data from a second accelerometer of the second radio frequency beacon;

determining a location and an orientation of the second medical object in three-dimensional space based at least in part on the second plurality of return radio frequency signals and the second accelerometer data;

tracking the location of the second medical object in three-dimensional space to generate second location information;

tracking the orientation of the second medical object in three-dimensional space to generate second orientation information;

and

storing the first and second location information and the first and second orientation information;

wherein the determining the locations and the orientations of the first medical object and the second medical object in three-dimensional space based at least in part on the plurality of return radio frequency signals further includes an application of doppler filtering to the plurality of return radio frequency signals, said application of doppler filtering configured to discriminate between the plurality of return radio frequency signals from said radio frequency beacons and other sources of radio frequency signals such that said respective predetermined shifted frequencies differ from said respective frequency by said respective non-zero values when at least one of said radio frequency beacons is stationary with respect to said respective one of the plurality of radio frequency transceivers; and

wherein the first non-zero value and the second non-zero value are different values.

7 . The method of claim 6 , wherein at least one of the medical objects is one of a surface of a bone and a medical device.

8 . The method of claim 6 , wherein determining the location and the orientation of the first medical object in three-dimensional space includes determining, for the plurality of first return radio frequency signals, a respective location in three-dimensional space of the first medical object;

wherein the determined location and orientation of the first medical object in three-dimensional space is based on the determined respective location from the plurality of return radio frequency signals.

9 . The method of claim 8 , wherein determining the location and the orientation of the first medical object in three-dimensional space further comprises: determining three-dimensional orientation of the first radio frequency beacon in three-dimensional space based at least in part on the first accelerometer data.

10 . The method of claim 6 , wherein the first medical object is a cutting tool.

Assignments (1)

Continuity (1)

References Cited (109)