# US 11,896,319 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 11,896,319 B2 - Document ID: US11896319B2 - Status: Granted - Kind: B2 - Application number: 17/901,475 - Filed: 2022-09-01 - Published: 2022-12-29 - Granted: 2024-02-13 - Earliest claimed: 2019-09-17 - Assignees: Caira Surgical - Applicants: CAIRA Surgical - Inventors: Morteza Meftah - Web page: https://patentgrep.com/patent/US11896319B2 ## 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 Systems and methods for medical object tracking are provided. The system may include a plurality of radio frequency transceivers that each emit a radio frequency signal at a first respective frequency. The system may further include a radio frequency beacon that is attachable to the medical object and that emits a second radio frequency signal at a second respective frequency different than the first respective frequency in response to receiving the radio frequency signal. The system may also include a control device in communication with the plurality of radio frequency transceivers, the control device including processing circuitry that determines a location of the medical object in three-dimensional space based at least in part on the second radio frequency signal. The beacon may include a platform, a first fixation element that extends from the platform; and a second fixation element that is tilted relative to the first fixation element. ## Claims ### Claim 1 A system for tracking a medical object, the system comprising: a first radio frequency transceiver that emits a first radio frequency signal at a first frequency; a second radio frequency transceiver that emits a second radio frequency signal at a second frequency; a third radio frequency transceiver that emits a third radio frequency signal at a third frequency; a radio frequency beacon comprising: a platform; a first fixation element extending orthogonally from the platform; and a second fixation element extending at an oblique angle from the platform; wherein the radio frequency beacon performs operations comprising: emitting a fourth radio frequency signal at a fourth frequency in response to receiving the first radio frequency signal; emitting a fifth radio frequency signal at a fifth frequency in response to receiving the second radio frequency signal; and emitting a sixth radio frequency signal at a sixth frequency in response to receiving the third radio frequency signal; and a control device in communication with the first radio frequency transceiver, the second radio frequency transceiver, and third radio frequency transceiver, the control device including processing circuitry that determines a location of the medical object in three-dimensional space based at least in part on the fourth radio frequency signal, the fifth radio frequency signal, and the sixth radio frequency signal. ### Claim 2 (depends on 1) The system of claim 1, wherein emitting the fourth radio frequency signal at the fourth frequency in response to receiving the first radio frequency signal comprises modifying the first radio frequency to create the fourth radio frequency. ### Claim 3 (depends on 1) The system of claim 1, wherein emitting the fifth radio frequency signal at the fifth frequency in response to receiving the second radio frequency signal comprises modifying the second radio frequency to create the fifth radio frequency. ### Claim 4 (depends on 1) The system of claim 1, wherein emitting the sixth radio frequency signal at the sixth frequency in response to receiving the third radio frequency signal comprises modifying the third radio frequency to produce the sixth radio frequency. ### Claim 5 (depends on 1) The system of claim 1, wherein the first radio frequency transceiver, the second radio frequency transceiver and the third radio frequency transceiver are in a substantially circular configuration. ### Claim 6 (depends on 5) The system of claim 5, wherein the first radio frequency transceiver, the second radio frequency transceiver and the third radio frequency transceiver have 120 degrees of separation with respect to each other. ### Claim 7 (depends on 1) The system of claim 1, wherein the radio frequency beacon comprises an antennae. ### Claim 8 (depends on 1) The system of claim 1, wherein the radio frequency beacon comprises a transceiver. ### Claim 9 A system for tracking a medical object, the system comprising: a plurality of radio frequency transceivers that each emit a radio frequency signal at a first respective frequency; a radio frequency beacon that is attachable to the medical object and that emits 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 fixation element that extends substantially orthogonally from the platform; and a second fixation element that is spaced a distance from the first fixation element and that is tilted relative to the first fixation element; and a control device in communication with the plurality of radio frequency transceivers, the control device including processing circuitry that determines a location of the medical object in three-dimensional space based at least in part on the second radio frequency signal. ### Claim 10 (depends on 9) The system of claim 9, wherein each first respective frequency of a respective radio frequency transceiver of the plurality of radio frequency transceivers is different from the first respective frequency of each of the other radio frequency transceivers of the plurality of radio frequency transceivers. ### Claim 11 (depends on 10) The system of claim 10, wherein the first respective frequency is between 3 to 300 GHz. ### Claim 12 (depends on 11) The system of claim 11, wherein the first respective frequency varies by approximately 4 GHz. ### Claim 13 (depends on 9) The system of claim 9, wherein the second respective frequency is based on modifying the first respective frequency. ### Claim 14 (depends on 13) The system of claim 13, wherein modifying the first respective frequency comprises shifting the first respective frequency by a predetermined amount. ### Claim 15 (depends on 9) The system of claim 9, wherein the radio frequency beacon comprises a transceiver. ### Claim 16 (depends on 9) The system of claim 9, wherein the plurality of radio frequency transceivers are arranged to be approximately equidistant from each other. ### Claim 17 A computer-implemented method for tracking a medical object, the method comprising: removably affixing a radio frequency beacon to the medical object wherein the radio frequency beacon comprises: a platform; a first fixation element that extends substantially orthogonally from the platform; and a second fixation element that is spaced a distance from the first fixation element and that is tilted relative to the first fixation element; emitting, from each radio frequency transceiver of a plurality of radio frequency transceivers, a radio frequency signal at a first respective frequency; emitting, from the radio frequency beacon in response to the radio frequency signal at each first respective frequency, a second radio frequency signals at a second respective frequency that is 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 18 (depends on 17) The method of claim 17, wherein each first respective frequency of a respective radio frequency transceiver of the plurality of radio frequency transceivers is different from the first respective frequency of each of the other radio frequency transceivers of the plurality of radio frequency transceivers. ### Claim 19 (depends on 17) The method of claim 17, wherein the first respective frequency is between 3 to 300 GHz. ### Claim 20 (depends on 17) The method of claim 17, further comprising modifying the first respective frequency to create the second respective frequency. ### Claim 21 (depends on 20) The method of claim 20, wherein modifying the first respective frequency comprises shifting the first respective frequency by a predetermined amount. ### Claim 22 (depends on 17) The method of claim 17, wherein the radio frequency beacon comprises a transceiver. ### Claim 23 (depends on 17) The method of claim 17, further comprising arranging the plurality of radio frequency transceivers to be approximately equidistant from each other.