Reconfigurable transmitter array for electromagnetic tracking systems
Inventors
Assignees
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Publication Number
US-11953349-B2
Publication Date
2024-04-09
Expiration Date
Abstract
A magnetic tracking system is configured to determine an object pose of a tracked object in an environment of the magnetic tracking system. The tracking system includes a transmitter assembly that includes a transmitting coil configured to generate a magnetic signal indicative of an object pose of a tracked object with respect to the transmitter assembly and a marker that visually identifies a pose of the transmitter assembly with respect to a camera device. The camera device captures at least one image of the transmitter assembly. A computing device determines, based on the image, a pose for the transmitter assemblies in the image. Based on the magnetic signal and the pose associated with the transmitter assembly, the computing device determines the object pose of the tracked object in the environment.
Core Innovation
The invention relates to a magnetic tracking system for determining an object pose of a tracked object in an environment of the magnetic tracking system. The magnetic tracking system uses a plurality of transmitter assemblies, where each transmitter assembly includes a transmitting coil configured to generate a magnetic signal indicative of an object pose with respect to the transmitter assembly, and a marker that visually identifies a pose of the transmitter assembly with respect to a camera device.
A camera device captures at least one image of the plurality of transmitter assemblies that includes a representation of the marker on the transmitter assemblies. A computing device determines, based on the image including the representation of the marker on each of the transmitter assemblies, a pose for the at least one of the transmitter assemblies in the image, receives each of the magnetic signals, and determines the object pose of the tracked object in the environment based on each magnetic signal and the pose associated with the transmitter assembly.
The description emphasizes reconfigurability by using multiple transmitter assemblies whose emitting magnetic signals are uniquely associated with visually detectable markers, including outer-shape concepts and pattern marker types. The transmitter assemblies can be moved during use without recalibration, with optional modular electronics and camera-based identification of each transmitter’s pose, and optional reconfigurable receiver assemblies that support distortion mapping and compensation based on optical versus electromagnetic pose differences.
Claims Coverage
The document includes two independent claims that cover a magnetic tracking system and a method for determining an object pose. Across these independent claims, the coverage centers on obtaining transmitter magnetic signals and determining transmitter poses from camera-captured visual marker representations, then combining both to compute and output the tracked object pose.
Magnetic tracking system using visual marker-based transmitter pose with magnetic-signal object pose determination
A magnetic tracking system comprising a plurality of transmitter assemblies including a transmitting coil generating a magnetic signal indicative of an object pose with respect to the transmitter assembly and a marker that visually identifies a pose of the transmitter assembly with respect to a camera device, where the camera device captures images including representations of the marker, and a computing device determines a pose for the transmitter assembly from the images, receives the magnetic signals, determines the object pose based on the magnetic signals and the associated transmitter poses, and outputs a representation of the object pose.
Method for determining tracked object pose by combining magnetic signals with camera-determined transmitter marker poses
A method for determining an object pose of a tracked object in an environment of a magnetic tracking system by obtaining magnetic signals indicative of an object pose with respect to each transmitter assembly; obtaining image data representing a marker on each transmitter assembly; determining, based on the image data, a pose for each respective transmitter assembly; determining, based on each magnetic signal and the pose associated with each transmitter assembly, the object pose in the environment; and outputting a representation of the object pose.
Both independent claims share the same core combination: magnetic signals from multiple transmitter assemblies and visual marker representations captured by a camera to determine each transmitter’s pose, which are then combined to determine and output the tracked object pose.
Stated Advantages
Reconfigurability by moving transmitter assemblies during use without recalibration.
Documented Applications
Medical use magnetic tracking of tracked object pose for surgical instruments such as a catheter, endoscope, or surgical instrument.
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