Hybrid Tracking System

Abstract

A surgical navigation module comprising: (a) a microcomputer; (b) a tri-axial accelerometer; (c) a tri-axial gyroscope; (d) at least three tri-axial magnetometers; (e) a communication module; (f) an ultrawide band transceiver; and, (g) at least four ultrawide band antennas.

What is claimed is: 
     
         1 .- 48 . (canceled) 
     
     
         49 . A method of using a surgical navigation module comprising a microcomputer, a tri-axial accelerometer, a tri-axial gyroscope, at least three tri-axial magnetometers, a communication module, an ultrawide band transceiver, and at least four ultrawide band antennas, the method comprising:
 determining changes in orientation of the surgical navigation module;   determining changes in translation of the surgical navigation module; and,   outputting data indicative of the changes in orientation and translation of the surgical navigation module.   
     
     
         50 . The method of  claim 49 , wherein the step of determining changes in orientation of the surgical navigation module is performed internally within the module. 
     
     
         51 . The method of  claim 49 , wherein the step of determining changes in translation of the surgical navigation module is performed internally within the module. 
     
     
         52 . The method of  claim 49 , wherein the step of determining changes in translation of the surgical navigation module includes utilizing at least one of time difference of arrival and time of arrival to the at least four ultrawide band antennas. 
     
     
         53 . The method of  claim 49 , further comprising generating multiple tags by multiplexing and ultrawide band pulse to the at least four ultrawide band antennas. 
     
     
         54 . The method of  claim 49 , further comprising positioning the at least four ultrawide band antennas so at least a first of the at least four ultrawide band antennas lies on a plane different than at least a second of the at least four ultrawide band antennas. 
     
     
         55 . The method of  claim 49 , further comprising characterizing the at least four ultrawide band antennas phase center variation. 
     
     
         56 . The method of  claim 49 , wherein at least one of the at least four ultrawide band antennas comprises as least one of a monopole antenna and a spiral slot antenna. 
     
     
         57 . The method of  claim 49 , wherein at least one of the at least four ultrawide band antennas comprises an optimized circularly polarized antenna. 
     
     
         58 . The method of  claim 55 , wherein characterizing the at least four ultrawide band antennas phase center variation results in minimizing orientation dependent data errors. 
     
     
         59 . The method of  claim 49 , further comprising using multiple reference tags to reduce clock jitter and drift. 
     
     
         60 . The method of  claim 49 , further comprising using wireless clock syncing to reduce clock jitter and drift. 
     
     
         61 . The method of  claim 49 , wherein the ultrawide band transceiver is utilized to output the data indicative of the changes in orientation and translation of the surgical navigation module. 
     
     
         62 . The method of  claim 49 , wherein the act of determining changes in orientation of the surgical navigation module includes utilizing data generated during the determination of changes in translation step to reduce errors in data generated during the determination of changes in orientation step. 
     
     
         63 . The method of  claim 49 , wherein a direct line of sight to or from the module is not required to perform the steps of determining changes in orientation of the surgical navigation module and determining changes in translation of the surgical navigation module. 
     
     
         64 . The method of  claim 49 , wherein the step of outputting data indicative of the changes in orientation and translation of the surgical navigation module is carried out using a wired connection. 
     
     
         65 . The method of  claim 49 , wherein the step of outputting data indicative of the changes in orientation and translation of the surgical navigation module is carried out using a wireless connection. 
     
     
         66 . The method of  claim 49 , wherein the steps of determining changes in orientation of the surgical navigation module, determining changes in translation of the surgical navigation module, an outputting data indicative of the changes in orientation and translation of the surgical navigation module, each occur within an operating room. 
     
     
         67 . A method of operating a surgical navigation system, the surgical navigation system comprising a plurality of surgical navigation modules, each of the plurality of navigation modules comprising a microcomputer, a tri-axial accelerometer, a tri-axial gyroscope, at least three tri-axial magnetometers, a communication module, an ultrawide band transceiver, and at least four ultrawide band antennas, the method comprising:
 determining changes in orientation of each of the plurality of surgical navigation modules;   determining changes in translation of each of the plurality of surgical navigation modules; and,   outputting data from each of the plurality of surgical navigation modules indicative of the changes in orientation and translation of a respective surgical navigation module.   
     
     
         68 .- 116 . (canceled) 
     
     
         117 . The method of  claim 49 , further comprising positioning the at least four ultrawide band antennas in a rigid and fixed configuration. 
     
     
         118 . The method of  claim 49 , further comprising using the surgical navigation module during a surgical procedure to repair at least one of a human hip joint, a human ankle joint, a human knee joint, a human shoulder joint, and a human spine. 
     
     
         119 . The method of  claim 49 , wherein the act of determining changes in orientation of the surgical navigation module includes utilizing data generated during the determination of changes in translation step to increase an accuracy of data generated during the determination of changes in orientation step.