Self-locating, active markers for navigated, augmented reality, or robotic surgery

A method for medical sensing, the method comprising:

• affixing one or more sensing devices on a patient's skin near a procedure site, wherein
• each sensing device locates itself with respect to one or more features of internal anatomy of the patient, and the internal anatomy comprises at least skeletal anatomy or soft tissue anatomy;
• and
• receiving location information, from one or more sensing devices, with respect to the internal anatomy of the patient for correlation of the internal anatomy location with a coordinate space of an operation room.

A sensing system comprising:

• one or more sensing devices, each sensing device configured to:
• be affixed on a surface of an object, wherein the surface is movable in an unpredictable manner with respect to an internal structure or another surface of the object;
• locate itself with respect to one or more of the internal structures of the object;
• and
• provide location information with respect to the internal structures for correlation of its spatial coordinate space with a spatial coordinate space of the internal structure of the object;
• a tracking system configured to:
• track real time locations of the one or more sensing devices through one or more of wired or wireless communication with the one or more sensing devices or visual tracking;
• and
• a computing device configured to:
• receive location information from the tracking system and sensing devices;
• and
• process the received location information for generation of the correlation of the sensing device's spatial coordinate space with a spatial coordinate space of the internal structure or the other surface of the object.