Tracking device for hand tracking in surgical environment
Inventors
Assignees
Smith and Nephew Orthopaedics AG • Smith and Nephew Asia Pacific Pte Ltd • Smith and Nephew Inc
Publication Number
US-12318148-B2
Publication Date
2025-06-03
Expiration Date
2041-12-14
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Abstract
A system for tracking a hand within a surgical environment is disclosed. The system comprises a hand covering including an opening to receive the hand and a plurality of trackable regions that each include at least one tracking feature. The system further comprises a tracking unit including one or more sensors configured to detect a location of each tracking feature. The system further comprises a processor configured to cause the system to receive the location of each tracking feature from the tracking unit, determine a position and an orientation of each trackable region of the hand covering, and calculate an overall position, orientation, and/or pose of the hand. Various actions or settings may be controlled within the surgical workspace by utilizing particular gestures or movements that are identified by the system via the processor.
Core Innovation
The invention provides a system for tracking a hand within a surgical environment by employing a wearable hand covering with multiple trackable regions, each having a distinct tracking feature. The system further comprises a tracking unit with sensors configured to detect the location of each tracking feature. A processor receives the location data from the tracking unit, determines the position and orientation of each trackable region, and calculates the overall position, orientation, and pose of the hand in real time.
This system addresses the problem that, although the surgeon’s hands play a critical role in surgical procedures, they are typically not tracked within the surgical workspace. Existing tracking tools are often bulky, interfere with tactile sensation, or are non-intuitive to use, leading to workflow disruption, reduced convenience, and lack of effective feedback to the surgeon during operations.
Through the tracking of specific gestures or movements derived from the calculated hand pose, the system can control various actions or settings within the surgical workspace. Additional features include the ability to collect three-dimensional surface data by tracking a designated region or finger, implementation of multiple input modalities for initiating and terminating collection modes, integration with surgical instruments for proximity-based control, and real-time display of the hand's representation on an augmented reality display.
Claims Coverage
The patent claims two main independent inventive features covering systems for tracking a hand and a finger within a surgical environment.
System for tracking a hand with multi-region, real-time, 3D surface collection
A system includes a hand covering with: - an opening to receive the hand, - a plurality of trackable regions substantially corresponding to articulating segments of the hand (including a collection region), - and a plurality of tracking features each disposed on a trackable region. The system further has a tracking unit with one or more sensors to detect the location of each tracking feature, and a processor executing instructions to: - receive initiation input initiating a collection mode via pushbutton, voice command, force, or gesture, - continuously track the position and orientation of the collection region during collection mode and collect a plurality of points defining a three-dimensional surface by: - receiving the location of each tracking feature, - determining for each region position and orientation, - and calculating the hand pose from regional positions and orientations; - receive termination input via the aforementioned input types to terminate collection mode.
System for tracking a finger with surface collection and multimodal input for initiation/termination
A system comprises a tracking device for disposal on a finger, with at least one tracking feature affixed to it; a tracking unit with one or more sensors to detect the location of each tracking marker; and a processor executing instructions to: - receive initiation input (pushbutton, voice command, force input, or gesture input) to start a collection mode, - continuously track the position and orientation of the finger during collection mode, collecting a plurality of points that define a three-dimensional surface, by: - receiving the location of each tracking feature, - determining, based on the location, the position and orientation of the finger; - and receive termination input (using any of the input methods above) to terminate the collection mode.
The claims cover systems and methods for real-time tracking and pose determination of a hand or finger within a surgical environment using wearable devices with trackable regions and features, supporting 3D surface data collection using multiple forms of initiation and termination input.
Stated Advantages
Provides hand tracking in a surgical workspace that is simple to use and does not impede the surgeon's workflow.
Does not interfere with the surgeon’s sense of touch, thus maintaining the ability to perform surgical procedures effectively.
Allows control of various surgical elements based on hand position, orientation, pose, or gestures, thereby increasing convenience for the surgeon.
Documented Applications
Tracking a surgeon's hand or finger within a surgical environment during procedures such as shoulder, hip, and knee arthroplasties, arthroscopic procedures, spinal procedures, maxillofacial procedures, rotator cuff procedures, and ligament repair and replacement procedures.
Controlling surgical instruments, computer-assisted surgical systems, or progressing through surgical plan stages based on tracked hand or finger gestures.
Collecting three-dimensional surface data of anatomical structures during surgery by using tracked hand or finger movement.
Displaying a real-time representation of the hand’s position, orientation, and pose in an augmented reality display to assist visualization during surgery.
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