# US 11,432,882 B2 · System and method for medical object tracking > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,432,882 B2 - Document ID: US11432882B2 - Status: Granted - Kind: B2 - Application number: 17/017,015 - Filed: 2020-09-10 - Published: 2021-03-18 - Granted: 2022-09-06 - Earliest claimed: 2019-09-17 - Assignees: Caira Surgical - Applicants: CAIRA Surgical - Inventors: Morteza Meftah - Web page: https://patentgrep.com/patent/US11432882B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 90/39: {Markers, e.g. radio-opaque or breast lesions markers} - A61B 2034/108: {Computer aided selection or customisation of medical implants or cutting guides} - A61B 2034/2048: {using an accelerometer or inertia sensor} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2090/3916: {Bone tissue} - A61B 2090/3975: {active} - A61B 2090/3991: {having specific anchoring means to fixate the marker to the tissue, e.g. hooks} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract According to one aspect of the invention, a system for medical object tracking is provided. The system includes a plurality of radio frequency transceivers where each of the plurality of radio frequency transceivers are configured to emit a radio frequency signal at a respective frequency. The system includes a radio frequency beacon removably attachable to a medical object where the radio frequency beacon configured to: reflect the radio frequency signals from the plurality of radio frequency transceivers, and emit vibration-based signals. The system includes a control device in communication with the plurality of radio frequency transceivers where the control device includes processing circuitry configured to determine a location of the medical object in three-dimensional space based at least in part on the reflected radio frequency signals and vibration-based signals. ## Claims ### Claim 1 A system for medical object tracking, comprising: a plurality of radio frequency transceivers, each of the plurality of radio frequency transceivers configured to emit a radio frequency signal at a first respective frequency; a radio frequency beacon removably attachable to a medical object, the radio frequency beacon being configured to emit a second radio frequency signal at a second respective frequency different than the first respective frequency in response to receiving the radio frequency signal, wherein the radio frequency beacon comprises: a platform; a first medical object affixation element extending orthogonally from the platform; and a second medical object affixation element extending at an oblique angle from the platform; and a control device in communication with the plurality of radio frequency transceivers, the control device including processing circuitry configured to: determine a location of the medical object in three-dimensional space based at least in part on the second radio frequency signal. ### Claim 2 (depends on 1) The system of claim 1, wherein the beacon includes a dome. ### Claim 3 (depends on 2) The system of claim 2, wherein the beacon includes an antenna disposed within the dome. ### Claim 4 (depends on 2) The system of claim 2, wherein the dome includes a plurality of gripping elements on its exterior surface. ### Claim 5 (depends on 4) The system of claim 4, wherein the beacon includes an accelerometer disposed within. ### Claim 6 (depends on 5) The system of claim 5, wherein the beacon is configured to twist lock to the platform. ### Claim 7 (depends on 6) The system of claim 6, wherein the beacon includes a quick response (QR) code corresponding to one or more default preferences associated with a procedure. ### Claim 8 (depends on 1) The system of claim 1, wherein each first respective frequency of a respective transceiver of the plurality of radio frequency transceivers is different from the first respective frequency of each of the other transceivers of the plurality of radio frequency transceivers. ### Claim 9 A method implemented in a system for tracking a medical object, the method comprising: removably affixing to the medical object a radio frequency beacon, the radio frequency beacon comprising: a platform; a first medical object affixation element extending orthogonally from the platform; and a second medical object affixation element extending at an oblique angle from the platform emitting, at each radio frequency transceiver of a plurality of radio frequency transceivers, a radio frequency signal at a first respective frequency; emitting, at the radio frequency beacon in response to the radio frequency signal at the first respective frequency, second radio frequency signals at a second respective frequency different than the first respective frequency; and determining a location of the medical object in three-dimensional space based at least in part on the second radio frequency signals. ### Claim 10 (depends on 9) The method of claim 9, wherein the beacon includes a dome. ### Claim 11 (depends on 10) The method of claim 10, wherein the beacon includes an antenna disposed within the dome. ### Claim 12 (depends on 10) The method of claim 10, wherein the dome includes a plurality of gripping elements on its exterior surface. ### Claim 13 (depends on 12) The method of claim 12, wherein the beacon includes an accelerometer disposed within. ### Claim 14 (depends on 13) The method of claim 13, wherein the beacon is configured to twist lock to the platform. ### Claim 15 (depends on 14) The method of claim 14, wherein the beacon includes a quick response (QR) code corresponding to one or more preferences associated with a procedure. ### Claim 16 A radio frequency beacon, comprising: a platform; a first medical object fixation element extending from and perpendicular to the platform; a second medical objection fixation element being disposed at an oblique angle to the platform; a dome, the dome including an antenna disposed within; and a circuit board disposed between the dome and the platform, the antenna being affixed to the circuit board. ### Claim 17 (depends on 16) The radio frequency beacon of claim 16, further comprising an inertial measurement unit (IMU) configured to permit determination of an orientation of the radio frequency beacon. ### Claim 18 (depends on 17) The radio frequency beacon of claim 17, wherein the IMU comprises at least one of an accelerometer, a magnetometer, or a gyroscope. ### Claim 19 (depends on 17) The radio frequency beacon of claim 17, wherein the IMU is affixed within the dome.