Medical equipment positioning system

Abstract

A positioning system for a surgical operating room includes an optical marker coupled to a medical device. A sensor is configured to obtain initial position data of the optical marker. A laser device is configured to obtain subsequent position data of the optical marker. A controller is configured to receive the initial position data from the sensor and the subsequent position data from the laser device. The controller is configured to determine the position of the medical device in the surgical operating room and identify the type of the medical device in response to the optical marker.

Description

Technical Field

[0001] The present disclosure generally relates to a positioning system for medical equipment in a surgical operating room. Summary of the invention

[0002] According to one aspect of the present disclosure, a positioning system for a surgical operating room includes an optical marker coupled to a medical device; a sensor is configured to obtain initial position data of the optical marker; a laser device is configured to obtain subsequent position data of the optical marker; a controller is configured to receive the initial position data from the sensor and the subsequent position data from the laser device; the controller is configured to determine the position of the medical device in the surgical operating room and identify the type of the medical device in response to the optical marker.

[0003] According to another aspect of the present disclosure, a method for adjusting equipment in a surgical operating room includes detecting the type of medical equipment in the surgical operating room; determining whether the medical equipment is a fixed equipment or a mobile equipment; detecting the position of the medical equipment using a sensor and at least one optical marker coupled to the medical equipment; determining at least one of a movement path and an adjustment path of the medical equipment; and moving the medical equipment in the surgical operating room in response to the detected position of the medical equipment.

[0004] According to another aspect of the present disclosure, a positioning system for a surgical operating room includes a plurality of optical markers coupled to a medical device; a sensor configured to obtain initial position data of the plurality of optical markers; a laser device configured to obtain subsequent position data of the plurality of optical markers; a controller configured to receive the initial position data from the sensor and the subsequent position data from the laser device. The controller is configured to determine the position of the medical device within the surgical operating room; and an adjustment component coupled to the medical device and communicatively coupled to the controller, wherein the adjustment component is configured to adjust the medical device along at least one of a movement path and an adjustment path in response to a signal from the controller.

[0005] These and other features, advantages and objects of the present disclosure will be further understood and appreciated by those skilled in the art by referring to the following description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In the attached figure:

[0007] Figure 1 is a schematic diagram of a surgical operating room including a positioning system according to the present disclosure;

[0008] Figure 2 yes Figure 1Schematic diagram of a surgical operating room, where medical instruments are located in different positions;

[0009] Figure 3 is a schematic diagram of a positioning system for a surgical operating room according to the present disclosure;

[0010] Figure 4 is a block diagram of a positioning system for communicating with a medical device according to the present disclosure;

[0011] Figure 5 is a flow chart of a positioning system for controlling movement of medical equipment within a surgical operating room according to the present disclosure; and

[0012] Figure 6 is a flow chart of a method for adjusting a medical device along a movement path or an adjustment path according to the present disclosure. DETAILED DESCRIPTION

[0013] The present illustrated embodiments reside primarily in the combination of method steps and device components associated with a medical device positioning system. Accordingly, device components and method steps have been represented by conventional symbols in the accompanying drawings where appropriate, and only those specific details relevant to understanding the embodiments of the present disclosure are shown without obscuring the present disclosure with details that would be readily apparent to one of ordinary skill in the art having the benefit of this specification. In addition, like numbers in the specification and drawings represent like elements.

[0014] For descriptive purposes, the terms "upper", "lower", "right", "left", "rear", "front", "vertical", "horizontal" and their derivatives as used herein refer to Figure 1 Oriented disclosure. Unless otherwise specified, the term "front" refers to the surface closest to the intended observer and the term "rear" refers to the surface farthest from the intended observer. However, it should be understood that the disclosure can assume a variety of different orientations unless otherwise expressly specified. It should also be understood that the specific structures and processes shown in the drawings and described in the following specification are merely exemplary embodiments of the inventive concepts defined in the appended claims. Therefore, unless otherwise specified in the claims, the specific dimensions and other physical characteristics related to the embodiments disclosed herein should not be considered limiting.

[0015] The terms "comprises," "includes," "contains," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but may also include other elements not expressly listed or inherent to the process, method, article, or apparatus. An element preceded by "comprises" does not, without more limitations, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0016] See also Figure 1-6 ; Reference numeral 10 generally indicates a positioning system of a surgical operating room 14. An optical marker 18 is coupled to a medical device, which may be a mobile device 22 or a fixed device or structure 24. A three-dimensional (3D) sensor 26 is configured to obtain initial position data of the optical marker 18. A laser device 30 is configured to obtain confirmation or subsequent position data of the optical marker 18. A controller 34 receives the initial position data from the 3D sensor 26 and the subsequent position data from the laser device 30. The controller 34 is configured to determine the position of the mobile device 22 within the surgical operating room 14 and control the movement of the mobile device 22 in response to the initial position data and the subsequent position data. The controller 34 is also configured to identify the type of the mobile device 22 and the fixed device 24 in response to the optical marker 18.

[0017] refer to Figure 1 and 2 , the positioning system 10 is shown in a surgical operating room 14, but may be used in other medical facilities and / or environments. The positioning system 10 is generally configured to determine the position of a mobile device 22 within the surgical operating room 14 and control the movement of the mobile device 22. The surgical operating room 14 may include one or more mobile devices 22 and fixed devices or structures 24 at any given time. The medical devices and structures 22, 24 may be any static or dynamic devices that are typically within the surgical operating room 14, used for medical procedures, or in a medical environment.

[0018] like Figure 1 As shown, the surgical room 14 includes a counter adjacent to one wall, which is an embodiment of a fixed structure 24 within the surgical room 14. The illustrated surgical room 14 also includes two embodiments of mobile equipment 22 of different types. Figure 1 The exemplary mobile devices shown are an operating table and a C-arm X-ray machine. The operating table can be freely moved from one physical location to another in the surgical operating room 14 along the movement path 36. The C-arm X-ray machine is fixedly coupled to the ceiling 40 within the surgical operating room 14 and therefore cannot be freely moved between different physical locations within the surgical operating room 14 (e.g., from left to right or from front to back). However, the C-arm X-ray machine can be freely adjusted, such as adjusting the height or rotation, while remaining in a fixed position. Therefore, the C-arm X-ray machine can generally be moved along the adjustment path 38.

[0019] Some mobile devices 22, such as surgical tables, can move along a travel path 36 and an adjustment path 38. The travel path 36 generally defines a space between two different or discrete physical locations (e.g., horizontal movement around a surgical operating room 14). The adjustment path 38 generally defines a change between physical states, conditions, or characteristics at a single physical location or between physical locations as the mobile device 22 translates along the travel path 36. Other examples of medical devices or structures 22, 24 can be, for example, instrument tables, computers or other electronic devices, storage devices, imaging devices, and / or any other device.

[0020] The optical markers 18 are typically coupled to the exterior surface of each mobile device 22 and fixed device or structure 24 within the surgical operating room 14. The optical markers 18 can be any feasible feature that can be recognized by the positioning system 10. The optical markers 18 can optically register and measure each mobile device 22. The number of optical markers 18 can vary based on the size, geometry, type of the mobile device 22 or fixed device 24, the static or dynamic nature of the mobile device 22 or fixed device 24, whether the mobile device 22 is translated along the movement path 36, or whether the mobile device 22 is moved along the adjustment path 38, and various aspects of the mobile device 22. For example, Figure 1 As shown, the fixed C-arm X-ray machine includes three optical markers 18, the operating table includes six optical markers 18, and the counter includes four optical markers 18. The number of optical markers 18 on the devices and structures 22, 24 shown is merely exemplary, and any feasible number of optical markers 18 can be coupled to each device or structure 22, 24 without departing from the teachings of this document.

[0021] like Figure 1 As shown, the positioning assembly 42 is coupled to the ceiling 40 within the surgical room 14. The positioning assembly 42 can include the 3D sensor 26, the laser device 30, and the controller 34. Positioning the positioning assembly 42 adjacent to or on the ceiling 40 can increase the area within the surgical room 14 from which the 3D sensor 26 and the laser device 30 can obtain data, thereby increasing the number of mobile devices 22 that can be controlled by the positioning system 10. However, it is contemplated that the positioning assembly 42 can be disposed at any feasible location or multiple locations within the surgical room 14. Each of the 3D sensor 26, the laser device 30, and the controller 34 can be contained in a single component, or alternatively, can be a separate component in the surgical room 14.

[0022] The positioning system 10 is configured to detect the position of the mobile device 22 and the fixed device 24 in the surgical operating room and identify each type of device or structure 22, 24. The 3D sensor 26 of the positioning system 10 is configured to obtain initial position data of the optical marker 18. The 3D sensor 26 measures the distance between the 3D sensor 26 and the optical marker 18. The 3D sensor 26 generally includes a light source 44, an image sensor 46, and a circuit board 48 ( Figure 4 ). The light source 44 in the 3D sensor 26 is configured to emit light in the visible or invisible spectrum into the surgical operating room 14. The emitted light is generally reflected by each optical marker 18 and is subsequently detected by the image sensor 46.

[0023] The 3D sensor 26 is configured to measure the distance between the 3D sensor 26 and each optical marker 18. Therefore, the 3D sensor 26 is configured to measure the distance between the mobile device 22 or fixed device 24 having the optical marker 18 and the 3D sensor 26, which is based on the time difference between the light emission and the reflected light returning to the 3D sensor 26. The 3D sensor 26 can use any feasible method, such as timing light pulses, phase shifts of reflected light, or any combination thereof, to determine the distance between the 3D sensor 26 and the mobile device 22 or fixed device 24. For example, the positioning system 10 can use a time-of-flight calculation commonly associated with a laser tracking device. Such a device calculates distance based on time of flight and calculates position based on an angular orientation or rotation and an elevation axis of a projection line of an identification laser. In another embodiment, the positioning system 10 can be configured as an optical vision system that uses the parallax effect of a stereo camera to determine position and depth.

[0024] The light source 44 of the 3D sensor 26 can be any type of light source. In certain non-limiting embodiments, the 3D sensor 26 can include a laser or a light emitting diode (LED). Typically, the 3D sensor 26 is configured to emit infrared light (e.g., a wavelength in a range between about 700 nanometers and about 1 millimeter), near infrared light (e.g., a wavelength in a range between about 700 nanometers and about 940 nanometers), or a combination thereof.

[0025] In a non-limiting embodiment, the 3D sensor 26 may be a time-of-flight camera. In such an embodiment, the 3D sensor 26 is configured to determine the distance between the 3D sensor 26 and the mobile device 22 based on the time difference between the emission of light from the light source 44 and the receipt of the reflected light by the image sensor 46 of the 3D sensor 26. More specifically, the time between the emission of light by the light source 44 of the 3D sensor 26 and the receipt of the reflected light by the image sensor 46 indicates the distance between the 3D sensor 26 and the mobile device 22 or the fixed device 24. The distance and position determined by the 3D sensor 26 may be transmitted to the controller 34 as initial position data. The 3D sensor 26 may continue to obtain initial position data of the mobile device 22 as the mobile device 22 translates along the movement path 36 or the adjustment path 38 to dynamically calibrate and update the position of the mobile device 22.

[0026] The 3D sensor 26 may also be configured to obtain identification data regarding the type of mobile device 22 or fixed device 24 based on the arrangement or pattern of the optical markers 18. Thus, the positioning system 10 may identify the type of mobile device 22 or fixed device 24 within the surgical operating room 14, as well as the location of each device 22, 24. The optical markers 18 may be arranged in a specific pattern that represents a specific code corresponding to the type of device 22, 24 registered or stored within the controller 34. Additionally or alternatively, the optical markers 18 may be arranged to reflect light emitted from the 3D sensor 26 in a specific manner, or have other unique properties recognized by the positioning system 10. The 3D sensor 26 may obtain identification data related to the type of device 22, 24 and transmit the identification data to the controller 34. Identifying the type of device or structure 22, 24 may facilitate the positioning system 10 in determining the exact location and arrangement of the mobile device 22 and fixed device 24 within the surgical operating room 14, as well as determining whether the detected device 22, 24 is movable or fixed.

[0027] Still refer to Figure 1 and 2 , the laser device 30 of the positioning assembly 42 is configured to obtain confirmation or subsequent position data of each optical marker 18 disposed on the mobile device 22. The positioning system 10 can use the laser device 30 to determine a more precise and / or more accurate position of the optical marker 18 relative to the initial position determined by the 3D sensor 26. The accuracy of the laser device 30 can be proportional to the distance between the laser device 30 and the optical marker 18. In a specific non-limiting embodiment, the laser device 30 can provide a position accuracy of approximately 0.1 mm / m. Therefore, the laser device 30 can confirm and enhance the accuracy of the initial position data obtained by the 3D sensor 26.

[0028] The laser device 30 can detect each optical marker 18 using, for example, triangulation, pulse modulation, or a combination thereof. Angle calculation can be used to determine the distance between the laser device 30 and each optical marker 18. The laser device 30 may include an imager (e.g., a complementary metal oxide semiconductor or a charge coupled device) or a detector 50 (e.g., a position sensitive detector), as well as a laser light source 52 and a circuit board 54 ( Figure 4 ). The laser light source 52 typically emits infrared light and / or near infrared light. The laser light source 52 can emit light into the surgical operating room 14, and reflected light from the optical marker 18 can be received by focusing optics and directed into the detector 50 of the laser device 30. As the mobile device 22 moves within the surgical operating room 14, the reflected light moves relative to the imager or detector 50, and the laser device 30 can continue to obtain confirmation or subsequent position data as the mobile device 22 moves on the movement path 36 or adjustment path 38.

[0029] The initial position data obtained by the 3D sensor 26 can provide a rough estimate of the position of the optical markers 18 within the surgical operating room 14. The initial position data can be transmitted to the controller 34 and then transmitted to the laser device 30. The laser device 30 can use the initial position data determined by the 3D sensor 26 to guide the laser into the general area of ​​the optical markers 18. The information obtained by the 3D sensor 26 can guide the area scanning of the laser device 30 or accurately position the laser device 30 to guide the laser to obtain the precise position of each optical marker 18.

[0030] The mobile device 22 within the surgical operating room 14 can be positioned by the controller 34 in an absolute or relative coordinate system. As previously described, the position of the mobile device 22 is calculated by the controller 34 based on the position information identified by the 3D sensor 26 in combination with the measurements of the laser device 30. In operation, the laser light emitted from the laser device 30 is reflected from the optical marker 18, which can be implemented as a retroreflective target or a similar reflective target. The controller 34 detects or improves the calculated position of each mobile device 22 based on the angular orientation (azimuth axis and elevation axis) and distance readings measured by the laser device 30 to accurately determine the position and / or orientation of the mobile device 22 in the surgical operating room 14. The controller 34 can identify the position of the mobile devices 22 relative to each other, the fixed devices 24, and / or based on their relative positions within the calibration coordinate grid and the operating envelope of the surgical operating room 14. The operating envelope can be defined or programmed into the controller 34 as a predetermined working range defined relative to the coordinate grid.

[0031] According to various aspects, light emitted by the light source 44 of the 3D sensor 26 may be scattered by bright surfaces or may produce distorted reflections based on the shape of the reflective surface, which may affect the distance measurements obtained by the 3D sensor 26. The laser device 30 may be advantageously used with highly reflective surfaces, such as metal parts commonly found in surgical operating rooms 14. Thus, the 3D sensor 26 may provide an estimated position of the optical markers 18 and provide dynamic calibration for the positioning system 10, and the laser device 30 may confirm the precise positioning of each optical marker 18.

[0032] refer to Figure 3 As previously described, the laser device 30 can obtain subsequent position data of the optical marker 18. This can be used to confirm the position of the mobile device 22 or the fixed device 24 within the surgical operating room 14. In addition, the laser device 30 can be configured to project information 56 onto a surface within the surgical operating room 14. The surface can be any surface within the surgical operating room 14, such as a wall, floor space, a whiteboard, or a removable or permanent component for displaying data. The laser device 30 can project the information 56 onto any surface that is spatially aligned and the information 56 is not substantially distorted. The information 56 can be or include any information or data that may be useful in the surgical operating room 14 or during a medical procedure.

[0033] For example, the projected information 56 may be data about the mobile device 22 or the fixed device 24 (e.g., device data, device type data, etc.), information about the movement path 36 or the adjusted path 38 (e.g., device movement data, obstacle data, etc.), information 56 output from the mobile device 22 or the fixed device 24 (e.g., sensed patient data, device position data, etc.), information 56 about the patient (e.g., stored patient data, patient record data, etc.), or any other information 56. Different types of information 56 may also be projected and displayed simultaneously, such as Figure 3 The information 56 can be displayed as a static image or a moving image. The laser device 30 can be operated independently of the projection of the information 56 and simultaneously with the projection of the information 56 to obtain subsequent position data of the optical mark 18.

[0034] refer to Figure 4 , the positioning system 10 includes a controller 34, which includes a processor 58, a memory 60, and other control circuits. Instructions or routines 62 are stored in the memory 60 and can be executed by the processor 58. The controller 34 may include at least one routine 62 that involves receiving initial position data from the 3D sensor 26 and determining each optical marker 18 ( Figure 1). Similarly, the controller 34 may include at least one routine 62 that involves receiving subsequent position data from the laser device 30 and confirming the position of each optical marker 18 based on the subsequent position data. Additionally or alternatively, the controller 34 may include at least one routine 62 for adjusting the laser device 30 in response to the initial position data to emit light to the approximate location of the optical marker 18.

[0035] According to various aspects, the controller 34 can store information about registered mobile devices 22 or fixed devices 24 in the memory 60. The controller 34 can include at least one routine 62 configured to evaluate the pattern or code of the optical marker 18 and identify the type of device or structure 22, 24 using the stored registered mobile devices 22 and fixed devices 24. The controller 34 can store physical characteristics of each registered device or structure 22, 24, including footprint, volume, geometry, etc. The controller 34 can also store information related to the geometry of the surgical room 14 and information related to the location of fixed devices or structures 24 in the surgical room 14 that may act as obstacles in the memory 60. The controller 34 can be programmed to identify the clearance or interference zone of each registered device or structure 22, 24 in relation to the optical marker 18 that is blocked or occupied by the respective device 22, 24. These parameters can be accessed with the identification data.

[0036] As previously described, the position of each mobile device 22 may be obtained by initial position data obtained by the 3D sensor 26 and augmented or verified by subsequent position data obtained by the laser device 30. Additionally or alternatively, as a safety redundancy or collision prevention protocol, the position of the fixed device or structure 24 may be verified by initial position data obtained by the 3D sensor 26 and / or verified by subsequent position data obtained by the laser device 30. Although the position and physical characteristics of the fixed device 24 are typically stored in the memory 60 of the controller 34, the position or physical characteristics may be confirmed as part of the protocol before the mobile device 22 is translated along the movement path 36 or adjustment path 38.

[0037] The controller 34 may include a communication circuit 64 to allow the controller 34 of the positioning system 10 to communicate with one or more mobile devices 22. One, some, or all of the mobile devices 22 in the surgical operating room 14 may include a control unit 66 having a processor 70, a memory 74, and other control circuits. Instructions or routines 78 are stored in the memory 74 and can be executed by the processor 70. The mobile device 22 may include a communication circuit 82 to allow communication with the controller 34. The controller 34 is generally configured to collect inputs from the 3D sensor 26 and the laser device 30, process the inputs, and generate output responses to the inputs. The controller 34 can send signals to the mobile device 22 to control the movement of the mobile device 22 within the surgical operating room 14.

[0038] The controller 34 and control unit 66 disclosed herein may include different types of control circuits, such as digital or analog circuits, and may include a processor 58, 70, a microcontroller, an application specific circuit (ASIC), or other circuitry configured to perform the various input or output, control, analysis, or other functions described herein. The memories 60, 74 described herein may be implemented in various volatile and non-volatile memory formats. The routines 62, 78 include operating instructions to implement the various methods and functions described herein.

[0039] The controller 34 and the control unit 66 are communicatively coupled to each other to establish a communication interface 86 between the positioning system 10 and each mobile device 22. The controller 34 may also be configured to communicate with a remote server (e.g., a cloud server, an Internet-connected database, a computer, etc.) through the communication interface 86. The communication interface 86 may be a network, which may be one or more of a variety of communication mechanisms, including wired (e.g., cable and fiber optic) and / or wireless communications and any network topology or any combination of topologies.

[0040] Exemplary networks include wireless communication networks, such as Wi-Fi transceivers, IrDA transceivers, RFID transceivers, etc. Additionally or alternatively, the communication interface 86 can be implemented via one or more direct or indirect non-layered communication protocols, including but not limited to Bluetooth, Bluetooth Low Energy (BLE), Thread, Ultra Wideband, Z-wave, ZigBee, etc. In the example, the controller 34 and the control unit 66 communicate via a Bluetooth device, and the mobile device 22 and the positioning system 10 can be linked or synchronized. It is generally contemplated that the positioning system 10 can be associated with or synchronized with any number of mobile devices 22. It is generally contemplated that the positioning system 10 can be associated with or synchronized with any number of mobile devices 22. Each of the controller 34 and the control unit 66 may include circuitry configured for two-way wireless communication.

[0041] In addition, exemplary networks may include, but are not limited to, Global System for Mobile Communications (GSM), General Packet Radio Service, Code Division Multiple Access, Enhanced Data GSM Environment, Fourth Generation (4G) wireless, Fifth Generation (5G) wireless, Wi-Fi, Worldwide Interoperability for Wired Microwave Access (WiMAX), Local Area Network (LAN), Wide Area Network (WAN), including the Internet and other data communication services. It is contemplated that the controller 34 and control unit 66 may communicate via any suitable data exchange technology. By flexibly implementing the communication interface 86, various devices and servers may communicate directly with each other via the wireless communication interface 86 or a cellular data connection.

[0042] refer to Figure 2 , Figure 4 and Figure 5 , the communication interface 86 between the controller 34 of the positioning system 10 and the control unit 66 of the mobile device 22 can be used to transmit signals to control the movement of one or more mobile devices 22 along one or both of the movement path 36 and the adjustment path 38. Each mobile device 22 may include an adjustment component 90. The adjustment component 90 may be any component or system that adjusts the physical position or characteristics of the mobile device 22. The adjustable characteristics of the mobile device 22 may be, for example, the angle, height, direction, physical position, or any other aspect of the mobile device 22 (e.g., trend, tilt, maximum travel, etc.).

[0043] The adjustment component 90 can assist in the translation and steering of the operating table or other support device. In one non-limiting embodiment, the adjustment component 90 can be a motorized wheel assembly that translates the mobile device 22 to different physical locations within the surgical operating room 14 along the movement path 36. In another non-limiting embodiment, the adjustment component 90 can be a hydraulic or pneumatic cylinder, motorized assembly, etc., for adjusting the height-based characteristics of the mobile device 22 along the adjustment path 38. For example, the adjustment component 90 can be used for hydraulic adjustment of the operating table or other support device. Additionally or alternatively, the adjustment component 90 can be an articulated robotic arm having one or more degrees of freedom. Other non-limiting adjustment components 90 may include a gear assembly or a rail assembly. The configuration of the adjustment component 90 generally depends on the mobile device 22.

[0044] In operation, it is contemplated that the positioning system 10 can detect the location of each mobile device 22 and fixed device 24 within the surgical operating room 14, identify the type of mobile device 22 and fixed device 24, and control the movement of at least one mobile device 22. The 3D sensor 26 can use each optical marker 18 ( Figure 1) and the rough position of each optical marker 18 to determine the distance between the 3D sensor 26 and each mobile device 22. The laser device 30 can use each optical marker 18 to confirm the distance between each mobile device 22 and the laser device 30. Therefore, by using the 3D sensor 26 and the laser device 30, the positioning system 10 can detect the precise position of each mobile device 22 in the surgical operating room 14.

[0045] In addition, as previously described, the positioning system 10 can independently or simultaneously determine the type of equipment or structures 22, 24 in the surgical operating room 14. The 3D sensor 26 can obtain identification data related to the type of mobile device 22 based on the arrangement of the optical markers 18. It is contemplated that the optical markers 18 can have different attributes that can be detected by the 3D sensor 26 or the controller 34, which indicate the type of mobile device 22 or fixed device 24.

[0046] The controller 34 may include at least one routine 62 that determines the location of each mobile device 22 within the surgical room 14 in response to the received initial and subsequent location data. The controller 34 may include stored information regarding the location and physical characteristics of the fixtures 24, such as the geometry of each type of mobile device 22 and fixture 24. By using the identification data in conjunction with the initial and subsequent location data, the controller 34 may also determine the precise location of each mobile device 22 within the surgical room 14. The controller 34 may utilize the location, precise location, and type of each mobile device 22 and fixture 24 to determine the movement path 36 or adjust the path 38.

[0047] The controller 34 may send a signal to the control unit 66 of each mobile device 22 to be moved. It is contemplated that one, several, or all devices 24 within the surgical operating room 14 may include a control unit 66 to communicate directly with the controller 34. Alternatively, the fixed device 24 may not communicate directly with the controller 34, and the mobile device 22 may include a control unit 66 for communicating with the controller 34. As previously described, the mobile device 22 may be freely moved around the surgical operating room 14 along the movement path 36 (e.g., moving between different physical locations). Additionally or alternatively, the mobile device 22 may also have adjustable characteristics (e.g., height, tilt, rotation, etc.) and may be moved along the adjustment path 38 between different conditions or states. It is contemplated that the mobile medical device 22 may be moved manually or automatically. Each movement path 36 and adjustment path 38 may be determined to avoid collisions with other mobile devices 22 and fixed devices 24 within the surgical operating room 14.

[0048] The controller 34 is configured to communicate at least one of a movement path 36 or an adjustment path 38 to the mobile device 22 based on the initial and subsequent position data received from the 3D sensor 26 and the laser device 30 for each identified device or structure, the type of the mobile device 22, and the stored physical characteristics of the surgical room 14 and the mobile device 22. Thus, the controller 34 guides the mobile device 22 to a new physical location within the surgical room 14 while avoiding other objects (e.g., the mobile device 22 and the fixed devices 24) within the surgical room 14. More specifically, the controller 34 can control the movement of the mobile device 22 in a manner to avoid collisions with other detected devices or structures 22, 24. This can be accomplished by programming a clearing or interference zone for each device 22, 24 that identifies the blocked or occupied position of each object relative to the optical marker 18. These parameters can be accessed with the identification data.

[0049] Additionally or alternatively, the controller 34 may guide the movement of the mobile device 22 along the adjustment path 38 to a new setting or state in a manner that avoids collisions with other mobile devices 22 and fixed devices 24. In this manner, some or all of the mobile devices 22 within the surgical room 14 may be automatically moved within the surgical room 14. It is also contemplated that the control unit 66 of the mobile device 22 may determine the movement path 36 or the adjustment path 38 based on information received from the controller 34. Thus, the signal from the controller 34 may operate as a movement release signal to activate independent movement of the mobile device 22.

[0050] Using information from the 3D sensor 26 and the laser device 30, the controller 34 can determine the position and orientation of each mobile device 22 and fixed device 24 in the surgical operating room 14. The precise orientation of the device 22, 24 can be determined using at least one position of the optical marker 18 and stored information about the device 22, 24. Using other sensed or stored information about the surgical operating room, the controller 34 is configured to determine a movement path 36 or an adjustment path 38 to move or adjust the mobile device 22 based on a selected triggering event. The selected triggering event may be a user input, an event (such as an overhead light activation or a caregiver login), etc. The controller 34 can store the subsequent position of each device 22 corresponding to the triggering event.

[0051] For example, the controller 34 may store information that when the overhead light is activated in the surgical operating room 14, the support device will be positioned directly below the overhead light. If the operating table is not positioned correctly, the controller 34 may automatically adjust the position of the support device. In another non-limiting embodiment, in response to input from a medical professional in the surgical operating room 14, the C-arm X-ray machine may be adjusted to provide imaging of the patient on the support device. The medical professional may issue a command (e.g., a touch command, a voice command, a gesture, etc.) through a user interface, which is transmitted to the positioning system 10. The positioning system 10 may adjust the C-arm X-ray machine according to the command.

[0052] Based on the triggering event, the controller 34 is configured to determine or map a movement path 36 or an adjustment path 38 to adjust the mobile device 22 to a selected subsequent position or orientation. The controller 34 obtains position information of the various movable and fixed devices 22, 24 within the surgical room 14. Using the selected subsequent or terminal position or location and the position and orientation of the other devices 22, 24 within the surgical room 14, the controller 34 determines an appropriate movement path 36 or adjustment path 38 that avoids the other devices 22, 24 within the surgical room 14. The controller 34 can then send a signal to the control unit 66 of the mobile device 22, which then activates the adjustment component 90 to move the mobile device 22.

[0053] It is contemplated that additional optical markers 18 may be included on surfaces (e.g., walls) of the surgical room 14 to verify the stored information of the surgical room. Additionally or alternatively, it is contemplated that medical professionals in the surgical room 14 may wear or otherwise have optical markers 18 that may be sensed by the positioning system 10. Such a configuration may be advantageous for moving the mobile device 24 around the medical professional.

[0054] refer to Figure 6 , and further reference Figure 1-5 , the method 100 of adjusting the mobile device 22 in the surgical operating room 14 includes a step 102 of activating the positioning system 10. The positioning component 42 can be activated in response to a triggering event. The positioning component 42 can be activated by an automatic or automated process or by manual input. The triggering event can indicate the mobile device 22 to be moved and the subsequent or end position of the mobile device 22.

[0055] In step 104, the type of mobile device 22 is detected by the positioning component detection 42. The 3D sensor 26 can obtain identification data about the type of mobile device 22 based on the arrangement or pattern of the optical markers 18 on the selected mobile device 22, which can then be transmitted to the controller 34. The 3D sensor 26 can be used to sense or detect the position or arrangement of the optical markers 18 around the surgical operating room 14. The controller 34 may include information about the arrangement of the optical markers 18 stored in the memory 60, which associates a specific pattern with a specific type of device or structure. Using the specific pattern, the controller 34 can determine that the device 22 is a mobile device 22.

[0056] Additionally, the controller 34 may associate the detected type of device 22 with the stored characteristics in step 104. Knowing the type of mobile device 22 may be helpful in determining whether one or more movement paths 36, one or more adjustment paths 38, or both are available for the mobile device 22. For example, when the controller 34 determines that the mobile device 22 is a support device, the controller 34 may identify the size, shape, movement capabilities, adjustment capabilities, etc.

[0057] In step 106, the controller 34 may also use the 3D sensor 26 and additional optical markers 18 coupled to the additional devices to detect the types of additional devices in the surgical operating room, including fixed devices 24 and other mobile devices 22 (e.g., those that are not selected to be moved). The controller 34 may then associate the type of device 22, 24 with the stored characteristics. For example, when the controller 34 determines that the fixed device 24 is a work surface, the controller 34 may identify the size, shape, interference area, location in the surgical operating room 14, etc. Using a specific pattern of optical markers 18, the controller 34 may determine whether the device 22, 24 is fixed or movable. Thus, using the arrangement of the optical markers 18, the positioning system 10 may determine whether the device 22, 24 is movable or fixed, as well as the exact type or category of the device 22, 24, and associate the stored information with the type of device 22, 24 detected.

[0058] In step 108, the position of each optical marker 18, and therefore the position of the mobile device 22, can be detected using the 3D sensor 26. The 3D sensor 26 can be configured to emit light and determine the distance between the 3D sensor 26 and each optical marker 18 based on the time difference between the light being emitted from the 3D sensor 26 and the reflected light being received by the 3D sensor 26. The initial position data can be transmitted to the controller 34. It is contemplated that the 3D sensor 26 can continuously obtain the initial position data for each optical marker 18, can periodically obtain the initial position data, or can obtain the initial position data in response to a user command.

[0059] In step 110, the controller 34 may verify or confirm the position of the additional devices 22, 24 within the surgical operating room 14. The positioning system 10 may utilize the 3D sensor 26 to obtain estimates of the positions (e.g., initial position data) of the optical markers 18 on the fixture devices 24 and other fixture devices 22. The controller 34 may compare the sensed position of the optical marker 18 of each fixture device 24 to the stored positions.

[0060] In step 112, the position of each optical marker 18 on the selected mobile device 22 can be detected and confirmed using the laser device 30. The laser device 30 can use triangulation or pulse modulation to detect a more precise or accurate position of each optical marker 18. Subsequent position data can be transmitted to the controller 34. It is contemplated that the laser device 30 can continuously obtain subsequent position data for each optical marker 18, can periodically obtain subsequent position data, or can obtain subsequent position data in response to a user command.

[0061] In step 114, subsequent position data of additional devices including the fixed device 24 and other mobile devices 22 may be obtained by the laser device 30. The subsequent position data may provide confirmation of the precise position and orientation of the devices 22, 24. The laser device 30 may be used to confirm or verify the position of the devices 22, 24. The controller 34 may compare the subsequent position data with the stored position information of the fixed device 24 and the optical marker 18 on the fixed device 24.

[0062] In step 116, the controller 34 may calculate or determine a movement path 36, an adjustment path 38, or a combination thereof based on the mobile device 22 or the mobile device 22 to be moved. The controller 34 may utilize the initial and subsequent position data of the devices 22, 24 within the surgical room 14, as well as the positions of any other optical markers 18 within the surgical room 14. The controller 34 may then determine a movement path 36 or an adjustment path 38 that allows the mobile device 22 to reach a subsequent position or state and avoids collisions with other devices 22, 24 or objects detected within the surgical room 14. Thus, the controller 34 is configured to determine and confirm the position of the selected mobile device 22 and the additional devices in the surgical room 14 to provide a movement path 36 or an adjustment path 38 without the additional devices.

[0063] In step 118, the mobile device 22 may move within the surgical room 14 in response to the detected position of the mobile device 22 and the detected type. The controller 34 may transmit a signal to the mobile device 22, which may then send a corresponding signal to the adjustment component 90. The mobile device 22 may move along a movement path 36 between an initial position (e.g., a first position) and a subsequent position (e.g., a second position) within the surgical room 14. The movement path 36 or the adjustment path 38 may be defined by the controller 34 or the control unit 66, and there may be no other device or structure detected within the surgical room 14 on the path. The controller 34 may design the movement path 36 and the adjustment path 38 in response to various detected data and stored data to avoid collisions between the mobile device 22 and other devices and structures 22, 24 in the surgical room 14. It is contemplated that the mobile device 22 may move along the adjustment path 38 in a similar manner to avoid collisions. For example, the mobile device 22 may move along the adjustment path 38 between an initial position (e.g., a first state) and a subsequent position (e.g., a second state) within the surgical room 14.

[0064] The controller 34 may also assist in guiding the mobile device 22 along the travel path 36 or the adjustment path 38. For example, the controller 34 may transmit portions of the travel path 36 or the adjustment path 38 on a continuous basis as the mobile device 22 moves. Alternatively, the controller 34 may transmit the entire travel path 36 or the adjustment path 38 to the control unit 66.

[0065] In step 120, the positioning component 42 can continue to monitor the position of the mobile device 22 during the movement and adjust or stop the movement of the mobile device 22. The positioning component 42 can continuously monitor the position of the optical marker 18 within the surgical operating room 14. The controller 34 can monitor whether the mobile device 22 is still on the previously determined movement path 36 or adjustment path 38. In addition, the controller 34 can determine whether another object with an optical marker 18 has been moved into the movement path 36 or adjustment path 38. The controller 34 can communicate with the control unit 66 to stop the mobile device 22 to avoid a potential collision. Additionally or alternatively, the controller 34 can determine a new movement path 36 or adjustment path 38 for the mobile device 22.

[0066] In step 122, the laser device 30 may project information 56 into the surgical operating room 14. The type of projected information 56 is determined based on user input, predefined settings, etc. The laser device 30 may project the information 56 into a predetermined location within the surgical operating room 14 to provide the information 56 to the medical professional. Typically, the predefined projection location provides spatial alignment of the information 56 without significant distortion. The information 56 may relate to the patient, various devices 22, 24 within the surgical operating room 14, etc. In some aspects, the information 56 projected by the laser device 30 may be an output related to the detected positions of the various devices 22, 24 and the characteristics of the devices 22, 24 (e.g., maximum travel, trend tilt, etc.). The information 56 may also be output through different user interface devices without departing from the teachings herein.

[0067] The method 100 may be automatically performed by the positioning system 10, which may provide coordinated automatic movement of the mobile devices 22 within the surgical room 14. In such an embodiment, the positioning system 10 may be activated by a user command or another activation signal (e.g., preparation of the surgical room 14). Once the positioning system 10 is activated, the positioning system 10 may continuously monitor the position of each mobile device 22 within the surgical room 14.

[0068] Additionally or alternatively, method 100 may be performed in response to a user command. A user, such as a medical professional or a nursing staff of surgical operating room 14, may initiate method 100 by providing a user command through a user interface. It is contemplated that method 100 may be performed continuously, periodically, sporadically, or in combination thereof in response to a user command. Method 100 allows positioning system 10 to detect and register mobile device 22, and thus control the movement of mobile device 22 in a collision-avoiding manner. Method 100 may improve the accuracy of positioning mobile device 22 within surgical operating room 22, and increase the flexibility of space within surgical operating room 14. It should be understood that the steps of method 100 may be performed simultaneously in any order and / or omitted without departing from the teachings provided herein.

[0069] Utilizing the apparatus of the present application can provide a variety of advantages. For example, the positioning system 10 uses the 3D sensor 26 and the laser device 30 to obtain position data of each mobile device 22 in the surgical operating room 14. The laser device 30 can improve the precision and accuracy of the position data. In addition, the positioning system 10 can be configured to control the movement of some or all mobile devices 22 in the surgical operating room 14. In addition, the 3D sensor 26 can detect the type of mobile devices 22 and fixed devices 24 in the surgical operating room 14. The positioning system 10 can move each mobile device 22 with the control unit 66 along the movement path 36 or the adjustment path 38 in response to the initial position data, the subsequent position data, the identification data, the stored data, or a combination thereof.

[0070] In addition, for a stand-alone mobile device 22, the controller 34 can guide the mobile device 22 along a movement path 36 or an adjustment path 38 to avoid collisions with other registered or detected devices and structures within the surgical room 14. The movement path 36 provides translation of the mobile device 22 from one physical location to another physical location, and the adjustment path 38 provides movement of the mobile device 22 from a first setting or state to a second setting or state. Therefore, the positioning system 10 can be used for collision monitoring of devices and structures detected and registered within the surgical room 14. In addition, the positioning system 10 can improve accuracy and flexibility within the surgical room 14 and enable remote or automated coordination of mobile medical devices 22. These and other benefits or advantages can be achieved and / or attained.

[0071] The apparatus disclosed herein is further summarized in the following paragraphs, and may also be characterized by any and all combinations of the various aspects described therein.

[0072] According to one aspect of the present disclosure, a positioning system for a surgical operating room includes an optical marker coupled to a medical device. A sensor is configured to obtain initial position data of the optical marker. A laser device is configured to obtain subsequent position data of the optical marker. A controller is configured to receive the initial position data from the sensor and the subsequent position data from the laser device. The controller is configured to determine the position of the medical device in the surgical operating room and identify the type of the medical device in response to the optical marker.

[0073] According to another aspect, a medical device includes an adjustment component communicatively coupled to a controller. The adjustment component is configured to adjust the medical device along at least one of a movement path and an adjustment path in response to a signal from the controller.

[0074] According to another aspect, a characteristic of the medical device is adjusted as the medical device moves along the adjustment path. The characteristic of the medical device includes at least one of height, rotation, maximum stroke, tendency, and tilt of the medical device.

[0075] According to another aspect, the optical indicia are arranged in a pattern on the medical device and the controller is configured to determine the type of the medical device based on the pattern.

[0076] According to another aspect, the laser device is configured to project information onto a surface within the surgical operating room.

[0077] According to another aspect, the information includes at least one of device movement data, device type data, obstacle data, device location data, and patient data.

[0078] According to another aspect, a controller is configured to control movement of a medical device within the surgical operating room in response to the initial position data and the subsequent position data.

[0079] According to another aspect, a method for adjusting equipment within a surgical operating room includes: detecting a type of medical device within the surgical operating room; determining whether the medical device is a fixed device or a movable device; determining a position of the medical device using a sensor and at least one optical marker coupled to the medical device; determining at least one of a movement path and an adjustment path of the medical device; and moving the medical device within the surgical operating room in response to the detected position of the medical device. According to another aspect, the step of moving the medical device includes moving the medical device within the surgical operating room along a movement path from a first position to a second position. According to another aspect, the step of moving the medical device includes moving the medical device along an adjustment path from a first state to a second state. According to another aspect, the step of moving the medical device includes moving the medical device within the surgical operating room in response to at least one of the detected type of medical device and a triggering event. According to another aspect, a laser device is used to confirm the position of at least one optical marker and thereby confirm the position of the medical device.

[0080] According to another aspect, the step of moving the medical device includes moving the medical device from a first position to a second position along a movement path within the surgical operating room.

[0081] According to another aspect, the step of moving the medical device includes moving the medical device from a first state to a second state along an adjustment path.

[0082] According to another aspect, the step of moving the medical device includes moving the medical device within the surgical room in response to at least one of a detected type of medical device and a triggering event.

[0083] According to another aspect, a laser device is used to confirm the position of at least one optical marker and thereby the position of the medical device.

[0084] According to another aspect, the position of additional devices within the surgical room is determined using sensors and additional optical markers coupled to each additional device. The laser device using the additional optical markers determines the position of the additional devices within the surgical room.

[0085] According to another aspect, the step of determining at least one of the movement path and the adjustment path includes calculating at least one of the movement path and the adjustment path to avoid the additional equipment.

[0086] According to another aspect, the at least one optical marker comprises a plurality of optical markers arranged in a predetermined pattern. The step of detecting the type of the medical device comprises identifying a predetermined pattern of the plurality of optical markers coupled to the medical device.

[0087] According to another aspect, a positioning system for a surgical operating room includes a plurality of optical markers coupled to a medical device. A sensor is configured to obtain initial position data of the plurality of optical markers. A laser device is configured to obtain subsequent position data of the plurality of optical markers. A controller is configured to receive the initial position data from the sensor and the subsequent position data from the laser device. The controller is configured to determine a position of the medical device within the surgical operating room. An adjustment component is coupled to the medical device and communicatively coupled to the controller. The adjustment component is configured to adjust the medical device along at least one of a movement path and an adjustment path in response to a signal from the controller.

[0088] According to another aspect, a characteristic of the medical device is adjusted as the medical device moves along the adjustment path. The characteristic of the medical device includes at least one of a maximum travel, a tendency, and a tilt of the medical device.

[0089] According to another aspect, when adjusting the medical device along the movement path, the adjustment component is configured to adjust the medical device from an initial position to a subsequent position within the surgical operating room.

[0090] According to another aspect, the sensor is at least one of a three-dimensional sensor and a time-of-flight camera.

[0091] According to another aspect, a plurality of optical markers are arranged in a predetermined pattern on the medical device. A controller is configured to identify the predetermined pattern to determine the type of the medical device.

[0092] An apparatus for locating a device within a surgical operating room includes a means for detecting coupled to a medical device. The means for measuring distance is configured to obtain initial position data of the means for detecting. The means for confirming the measurement is configured to obtain subsequent position data of the means for detecting. The means for determining position is configured to receive the initial position data from the means for measuring distance and to receive subsequent position data from the means for confirming the measurement. The means for determining position is configured to determine the position of the medical device within the surgical operating room. The means for determining position is configured to identify a type of the medical device in response to the means for detecting.

[0093] Related applications, such as those listed herein, are fully incorporated by reference. The descriptions in the related applications are intended to assist in describing the information herein that a person of ordinary skill in the art may rely on. Any changes between any related application and the present disclosure are not intended to limit the description of the information disclosed herein including the claims. Therefore, the present application includes a description of the information disclosed herein and a description of the information in any or all related applications.

[0094] Those of ordinary skill in the art will appreciate that the disclosed content and the construction of other components described are not limited to any particular materials. Other exemplary embodiments of the present disclosure may be formed of a variety of materials. Unless otherwise specified.

[0095] For the purposes of this disclosure, the term "coupling" (expressed in various forms such as coupling, coupled, coupled, etc.) generally refers to the direct or indirect connection of two components (electrical or mechanical) to each other. This connection can be fixed or movable. This connection can be achieved by the two components (electrical or mechanical) and any additional intermediate components being integral with each other or forming a single unitary body with the two components. Unless otherwise specified, this connection can be permanent or removable or releasable.

[0096] It is also important to note that, as shown in the exemplary embodiments, the construction and arrangement of the elements of the present disclosure are only illustrative. Although only a few embodiments of the present invention are described in detail in the present disclosure, it will be readily understood by those skilled in the art who read the present disclosure that multiple modifications (e.g., changes in the size, dimensions, structure, shape and ratio, parameter values, mounting arrangements, material use, color, direction, etc. of various elements) may be made without substantially departing from the novel teachings and advantages of the subject matter. For example, an element shown as being integrally formed may be composed of multiple parts, or an element shown as being a plurality of parts may be integrally formed, the operation of the interface may be reversed or otherwise changed, the length or width of the structure and / or member or connector or other element of the system may be changed, and the nature or quantity of the adjustment position provided between the elements may be changed. It should be noted that the elements and / or components of the system may be composed of any of a variety of materials that provide sufficient strength or durability in any of a variety of colors, textures, and combinations thereof. Therefore, all of these modifications are intended to be included within the scope of the present invention. Without departing from the spirit of the present invention, other substitutions, modifications, changes, and omissions may be made in the design, operating conditions, and arrangements of desired and other exemplary embodiments.

[0097] It will be understood that any described process or step in the described process can be combined with other disclosed processes or steps to form structures within the scope of the present disclosure. The exemplary structures and processes disclosed herein are for illustrative purposes and should not be construed as limiting.

Claims

1. A positioning system for a surgical operating room, include: a reflective optical marker coupled to a medical device; A positioning assembly coupled to a ceiling within a surgical operating room, comprising: a time-of-flight camera including a light source and an image sensor, configured to obtain initial position data of the reflective optical marker and a distance between the time-of-flight camera and the reflective optical marker; a laser device including a laser light source and a detector configured to obtain subsequent position data of each reflected optical mark using the initial position data; and a controller configured to receive the initial position data from the time-of-flight camera and the subsequent position data from the laser device, wherein the controller is configured to: adjusting the laser device in response to the initial position data to emit light from the laser device toward the reflective optical indicia; determining a position and orientation of the medical device within the surgical operating room using the initial position data and the subsequent position data; and responsive to the optical indicia to identify a type of the medical device; controlling movement of a medical device within the surgical operating room in response to the initial position data and the subsequent position data; The medical device includes an adjustment component communicatively coupled to the controller, wherein the adjustment component is configured to adjust the medical device along at least one of a movement path and an adjustment path in response to a signal from the controller.

2. The positioning system according to claim 1, It is characterized in that A characteristic of the medical device is adjusted as the medical device moves along the adjustment path, wherein the characteristic of the medical device comprises at least one of a height, a rotation, a maximum travel, a tendency, and a tilt of the medical device.

3. The positioning system according to claim 1, It is characterized in that The reflective optical indicia are arranged in a pattern on the medical device, wherein the controller is configured to determine a type of the medical device based on the pattern.

4. The positioning system according to claim 1, It is characterized in that The laser device is configured to project information onto a surface within the surgical operating room.

5. The positioning system according to claim 4, It is characterized in that The information includes at least one of device movement data, device type data, obstacle data, device location data, and patient data.

6. A positioning system according to any one of claims 1 to 5, It is characterized in that The controller is configured to control movement of the medical device within the surgical operating room in response to the initial position data and the subsequent position data.

7. A method of adjusting equipment in a surgical operating room, include: detecting the type of medical equipment within the surgical operating room; Determining whether the medical device is a fixed device or a mobile device; estimating a position of the medical device using a 3D sensor and at least one optical marker coupled to the medical device; adjusting a laser device in response to the estimated position to emit light from the laser device toward at least one optical marker; using a laser device, obtaining subsequent position data of the at least one optical marker using the estimated position; confirming the position of the mobile medical device using the laser device and at least one optical marker using the position estimated by the 3D sensor and the subsequent position data; confirming the orientation of the movable medical device using a laser device and at least one optical marker; determining at least one of a movement path and an adjustment path of the medical device; as well as The medical device is adjusted along at least one of a movement path and an adjustment path in response to a signal from a controller.

8. The method according to claim 7, It is characterized in that The step of adjusting the medical device includes moving the medical device from a first position to a second position along the movement path within the surgical operating room.

9. The method according to claim 7, It is characterized in that The step of adjusting the medical device includes moving the medical device from a first state to a second state along the adjustment path.

10. The method according to claim 7, It is characterized in that The step of adjusting the medical device includes moving the medical device within the surgical theatre in response to at least one of the detected type of medical device and a triggering event.

11. The method according to claim 7, It is characterized in that The at least one optical marker comprises a plurality of optical markers arranged in a predetermined pattern, wherein the step of detecting the type of the medical device comprises identifying the predetermined pattern of the plurality of optical markers coupled to the medical device.

12. The method according to claim 11, further comprising: include: determining a position of the additional devices within the surgical operating room using the 3D sensor and additional optical markers coupled to each additional device; as well as The additional optical marker and the laser device are used to determine the position of the additional device within the surgical operating room.

13. The method according to claim 12, It is characterized in that The step of determining at least one of the movement path and the adjustment path includes calculating at least one of the movement path and the adjustment path to avoid the additional equipment.

14. A positioning system for a surgical operating room, include: a plurality of optical markers coupled to a medical device; a 3D sensor including a light source and an image sensor, configured to obtain initial position data of a plurality of optical markers; a laser device including a laser light source and a detector configured to obtain subsequent position data of the plurality of optical markers, wherein the laser device is configured to direct light to the plurality of optical markers determined by the 3D sensor using the initial position data to obtain the subsequent position data; A controller configured to receive initial position data from the sensor and subsequent position data from the laser device, the controller configured to: determining an estimated position of the medical device within the surgical operating room using the initial position data obtained by the 3D sensor; adjusting the laser device in response to the initial position data to emit light from the laser device toward the estimated positions of the plurality of optical markers; confirming the position of a medical device within the surgical operating room based on subsequent position data from the laser device; and An adjustment component is coupled to the medical device and is communicatively coupled to the controller, wherein the adjustment component is configured to adjust the medical device along at least one of a movement path and an adjustment path in response to a signal from the controller.

15. The positioning system according to claim 14, It is characterized in that As the medical device moves along the adjustment path, a characteristic of the medical device is adjusted, wherein the characteristic of the medical device includes at least one of a maximum travel, a trend, and a tilt of the medical device.

16. The positioning system according to claim 14, It is characterized in that The adjustment component is configured to adjust the medical device from an initial position to a subsequent position within the surgical operating room when adjusting the medical device along the movement path.

17. The positioning system according to claim 14, It is characterized in that The 3D sensor is a time-of-flight camera.

18. A positioning system according to any one of claims 14 to 17, It is characterized in that The plurality of optical markers The medical devices are arranged in a predetermined pattern on the medical device, wherein the controller is configured to identify the predetermined pattern to determine the type of the medical device.

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