# US 12,003,869 B2 · Systems and methods for tracking objects > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,003,869 B2 - Document ID: US12003869B2 - Status: Granted - Kind: B2 - Application number: 18/213,360 - Filed: 2023-06-23 - Published: 2023-10-19 - Granted: 2024-06-04 - Earliest claimed: 2018-06-15 - Assignees: MAKO Surgical Corp. - Applicants: MAKO Surgical Corp. - Inventors: Jochen Breisacher; David Hofmann; Emeric Umbdenstock; Jonathan Morgan; Paul Hoekstra - Web page: https://patentgrep.com/patent/US12003869B2 ## CPC - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - G01B 11/25: by projecting a pattern, e.g. {one or more lines,} moiré fringes on the object (G01B11/255 takes precedence {; image analysis for depth or shape recovery G06T7/50}) - G01B 11/2545: {with one projection direction and several detection directions, e.g. stereo} - H04N 13/243: using three or more two-dimensional [2D] image sensors - H04N 23/60: Control of cameras or camera modules - H04N 23/61: based on recognised objects - H04N 25/40: Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled - H04N 25/44: by partially reading an SSIS array - H04N 25/443: by reading pixels from selected two-dimensional [2D] regions of the array, e.g. for windowing or digital zooming - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - A61B 90/94: coded with symbols, e.g. text - A61B 2017/00203: {with speech control or speech recognition} - A61B 2017/00207: {with hand gesture control or hand gesture recognition} - A61B 2034/2046: {Tracking techniques} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2057: {Details of tracking cameras} - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2090/3945: {Active visible markers, e.g. light emitting diodes} - G06V 10/143: Sensing or illuminating at different wavelengths - G06V 10/145: Illumination specially adapted for pattern recognition, e.g. using gratings - H04N 23/695: Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects - H04N 25/42: by switching between different modes of operation using different resolutions or aspect ratios, e.g. switching between interlaced and non-interlaced mode - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Systems and methods to track an object within an operating room with a camera unit. The camera unit includes a first optical sensor with sensing elements to sense light in a near-infrared spectrum and a second optical sensor to sense light in a visible light spectrum. A controller is in communication with the first and second optical sensors. The controller obtains, from the second optical sensor, data related to the object within the operating room. The controller modifies control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor. ## Claims ### Claim 1 A surgical navigation system for tracking an object within an operating room, the surgical navigation system comprising: a camera unit comprising: a housing; a first optical sensor coupled to housing and comprising sensing elements adapted to sense light in a near-infrared spectrum; a second optical sensor coupled to the housing and being adapted to sense light in a visible light spectrum; and a controller in communication with the first and second optical sensors, and wherein the controller is configured to: obtain, from the second optical sensor, data related to the object within the operating room; and modify control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor. ### Claim 2 (depends on 1) The surgical navigation system of claim 1, wherein the data related to the object within the operating room comprises one or more of (1) a type of the object (2) a pose data of the object, and/or (3) an expected movement of the object. ### Claim 3 (depends on 2) The surgical navigation system of claim 2, wherein the controller is configured to modify control of the sensing elements to activate a subset of the sensing elements, the subset being less than all of the sensing elements. ### Claim 4 (depends on 2) The surgical navigation system of claim 2, wherein the controller is configured to modify control of the sensing elements to prevent processing of a subset of the sensing elements, the subset being less than all of the sensing elements. ### Claim 5 (depends on 2) The surgical navigation system of claim 2, wherein the controller is configured to modify control of the sensing elements to adjust a size of a field-of-view viewed by the first optical sensor. ### Claim 6 (depends on 2) The surgical navigation system of claim 2, wherein the controller is configured to modify control of the sensing elements to define a size and/or position of a region-of-interest viewed by the first optical sensor, the region-of-interest being a sub-region within a full field-of-view of the first optical sensor. ### Claim 7 (depends on 2) The surgical navigation system of claim 2, wherein the controller is configured to modify control of the sensing elements by adjusting a frequency by which the sensing elements are read-out. ### Claim 8 (depends on 2) The surgical navigation system of claim 2, wherein the pose data of the object includes one or more of: a velocity of the object and/or an acceleration of the object. ### Claim 9 (depends on 1) The surgical navigation system of claim 1, wherein the camera unit comprises two first optical sensors coupled to the housing and each comprising the sensing elements adapted to sense light in the near-infrared spectrum. ### Claim 10 (depends on 9) The surgical navigation system of claim 9, wherein the camera unit comprises: a rigid support structure disposed within the housing and being configured to support the two first optical sensors, and wherein the two first optical sensors are spaced apart from one another on the rigid support structure; and the second optical sensor rigidly supported by the housing relative to the two first optical sensors in a predefined relationship. ### Claim 11 (depends on 9) The surgical navigation system of claim 9, wherein the housing has an elongated shape defining a first end and an opposing second end, and wherein one of the first optical sensors is disposed adjacent to the first end of the housing and the other one of the first optical sensors is disposed adjacent to the opposing second end of the housing. ### Claim 12 A method of operating a surgical navigation system for tracking an object within an operating room, the surgical navigation system comprising a camera unit comprising a housing, a first optical sensor coupled to housing and comprising sensing elements adapted to sense light in a near-infrared spectrum, a second optical sensor coupled to the housing and being adapted to sense light in a visible light spectrum, and a controller in communication with the first and second optical sensors, the method comprising the controller performing the steps of: obtaining, from the second optical sensor, data related to the object within the operating room; and modifying control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor. ### Claim 13 (depends on 12) The method of claim 12, comprising the controller obtaining the data related to the object as being one or more of: (1) a type of the object (2) a pose data of the object, and/or (3) an expected movement of the object. ### Claim 14 (depends on 13) The method of claim 13, comprising the controller modifying control of the sensing elements by activating a subset of the sensing elements, the subset being less than all of the sensing elements. ### Claim 15 (depends on 13) The method of claim 13, comprising the controller modifying control of the sensing elements by preventing processing of a subset of the sensing elements, the subset being less than all of the sensing elements. ### Claim 16 (depends on 13) The method of claim 13, comprising the controller modifying control of the sensing elements for adjusting a size of a field-of-view viewed by the first optical sensor. ### Claim 17 (depends on 13) The method of claim 13, comprising the controller modifying control of the sensing elements for defining a size and/or position of a region-of-interest viewed by the first optical sensor, the region-of-interest being a sub-region within a full field-of-view of the first optical sensor. ### Claim 18 (depends on 13) The method of claim 13, comprising the controller modifying control of the sensing elements by adjusting a frequency by which the sensing elements are read-out. ### Claim 19 (depends on 13) The method of claim 13, comprising the controller obtaining the pose data of the object as being one or more of: a velocity of the object and/or an acceleration of the object. ### Claim 20 A camera unit for tracking an object within an operating room, the camera unit comprising: a first optical sensor comprising sensing elements adapted to sense light in a near-infrared spectrum; a second optical sensor adapted to sense light in a visible light spectrum; and a controller in communication with the first and second optical sensors, and wherein the controller is configured to: obtain, from the second optical sensor, data related to the object within the operating room; and modify control of the sensing elements of the first optical sensor based on the data of the object obtained by the second optical sensor.