Motion Tracking System with Inertial-Based Sensing Units

Abstract

Systems, apparatus, and method of monitoring a position of a joint. An inertial monitoring unit is configured to be coupled to a portion of a patient, such as a thigh. Another inertial monitoring unit is configured to be attached to another portion of the patient, such as a shank, that is connected to the other portion by a joint, such as a knee. The inertial monitoring units detect motion of their respective portions of the patient and transmit data indicative of this motion. These transmissions may be received by a computer and used to determine an orientation of the joint. The inertial monitoring units may also be coupled to vibration detection units and/or ultrasound modules that provide additional data regarding a condition of the joint.

1 - 26 . (canceled) 
     
     
         27 . A method of tracking orientation of an object in three dimensions during a medical procedure, the method comprising:
 providing at least one accelerometer and at least one gyroscope mounted to an object to be tracked in three dimensions as part of a medical procedure;   using data collected from the at least one gyroscope to generate rotational information used as part of a prediction model to verify data output from the at least one accelerometer; and,   generating orientation data indicative of an orientation of the object in real-time.   
     
     
         28 . A method of tracking orientation of an object in three dimensions during a medical procedure, the method comprising:
 providing at least one accelerometer and at least one gyroscope mounted to an object to be tracked in three dimensions as part of a medical procedure;   using data collected from the at least one accelerometer to generate orientation information used as part of a prediction model to verify data output from the at least one gyroscope to control gyroscopic drift; and,   generating orientation data indicative of an orientation of the object in real-time.   
     
     
         29 . A method of tracking orientation of an object in three dimensions during a medical procedure, the method comprising:
 providing at least one magnetometer and at least one gyroscope mounted to an object to be tracked in three dimensions as part of a medical procedure;   using data collected from the at least one magnetometer to generate orientation information used as part of a prediction model to verify data output from the at least one gyroscope to control gyroscopic drift; and,   generating orientation data indicative of an orientation of the object in real-time.