System and method for determining the three-dimensional location and orientation of identification markers
Inventors
Daon, Ehud (Udi) • Beckett, Martin Gregory
Assignees
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Publication Number
US-12070365-B2
Publication Date
2024-08-27
Expiration Date
Abstract
The present invention relates to a tool system comprising a handheld implement having a passive vectorized tracking marker permanently integrated with the implement at a predetermined location on the implement in a predetermined orientation with respect to the implement; and a database comprising geometric information describing the at least one of a rotationally asymmetric shape of the tracking marker and a rotationally asymmetric pattern disposed on the tracking marker. The system may further comprise: a tracker configured for obtaining image information about the tracking marker when the tracking marker is in a field of view of the tracker; and a controller having a processor and memory, the controller in communication with the database and the tracker, the processor programmable for receiving and processing image information from the tracker; accessing the database to retrieve the geometric information; and comparing the image information with the geometric information. The handheld implement may be three-dimensionally tracked by the tracker.
Core Innovation
The invention provides methods for tracking a handheld implement bearing a passive vectorized tracking marker permanently integrated with the implement. The marker has an identifiably unique rotationally asymmetric pattern of contrasting elements, which is identified in image information obtained from a non-stereo optical tracker. Database geometric information about the tracking marker is obtained to identify the marker and to determine a location of at least one pattern reference point and a rotational orientation of the passive vectorized tracking marker.
The tracking is extended to monitoring changes in a handheld surgical implement in three dimensions relative to a surgical site by attaching a single passive vectorized scan-visible fiducial reference at a fiducial location proximate the surgical site. Scan data is obtained by performing a scan of the surgical site and the fiducial location, and a three-dimensional spatial relationship between the fiducial reference and the surgical site is obtained from the scan data. A field of view of a tracker includes a first passive vectorized tracking marker in fixed spatial relation with the fiducial reference, and includes the surgical implement comprising an interchangeable portion and an invariant portion with a second passive vectorized marker permanently integrated with the invariant portion.
The invention further discloses making a three-dimensionally trackable apparatus having a working tip by permanently integrating a three-dimensional passive tracking marker with a rigid positioning and orienting portion of the apparatus with a determinable spatial relationship with respect to the working tip. A first machine-vision image is obtained of a mutually integral tracking marker and at least one portion, and the tracking marker is vectorized by establishing based on the first machine-vision image and the predetermined spatial relationship a rotationally asymmetric pattern on the tracking marker. Optionally, the pattern is established using a contrasting portion having a mathematically describable perimeter and including a determinable calibration/traceability using a unique serial number and a contactlessly interrogatable microchip storing an actual spatial relationship.
Claims Coverage
The partial content includes three independent claims, covering three inventive features: passive vectorized marker identification and pose determination, three-dimensional monitoring of a handheld surgical implement relative to a surgical site, and manufacture of a three-dimensionally trackable apparatus.
Identifying a passive vectorized tracking marker and determining pattern reference point location and rotational orientation
A method for tracking a handheld implement bearing a passive vectorized tracking marker permanently integrated with the implement, the marker having an identifiably unique rotationally asymmetric pattern of contrasting elements, comprising obtaining image information from a non-stereo optical tracker; obtaining from a database geometric information about the tracking marker; identifying the passive vectorized tracking marker on the basis of the unique pattern; determining within the image information the location of at least one pattern reference point based on the geometric information; and determining within the image information a rotational orientation of the passive vectorized tracking marker based on the geometric information.
Monitoring three-dimensional changes in a handheld surgical implement using fiducial reference, interchangeable and invariant portions, and working tip pose
A method for monitoring changes in a handheld surgical implement in three dimensions relative to a surgical site comprising attaching a single passive vectorized scan-visible fiducial reference at a fiducial location proximate the surgical site; obtaining scan data by performing a scan of the surgical site and the fiducial location; obtaining from the scan data a three-dimensional spatial relationship between the fiducial reference and the surgical site; disposing in a field of view of a tracker a first passive vectorized tracking marker in fixed spatial relation with the fiducial reference; disposing in the field of view of the tracker the surgical implement comprising an interchangeable portion and an invariant portion with a second passive vectorized marker permanently integrated with the invariant portion; obtaining image information of the field of view from the tracker; determining from the image information a three-dimensional location and orientation of the first tracking marker relative to the surgical site; identifying the interchangeable portion of the surgical implement in the image information; and determining from the image information and from the three-dimensional location and orientation of a working tip of the interchangeable portion of the surgical implement relative to the surgical site.
Making a three-dimensionally trackable apparatus by permanently integrating a passive tracking marker and vectorizing a rotationally asymmetric pattern
A method for making a three-dimensionally trackable apparatus having a working tip comprising permanently integrating a three-dimensional passive tracking marker with a rigid positioning and orienting portion of the apparatus, the rigid positioning and orienting portion having a determinable spatial relationship with respect to the working tip; obtaining a first machine-vision image of a mutually integral tracking marker and at least one portion; and vectorizing the tracking marker by establishing based on the first machine-vision image and the predetermined spatial relationship a rotationally asymmetric pattern on the tracking marker.
Across the independent claims, the coverage centers on passive vectorized markers identified via uniquely rotationally asymmetric patterns using database geometric information; three-dimensional monitoring of a surgical implement’s working tip relative to a surgical site while handling invariant and interchangeable portions; and producing three-dimensionally trackable apparatus by integrating and vectorizing a tracking marker through rotationally asymmetric pattern establishment from machine-vision imaging and a predetermined spatial relationship.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Tracking a handheld implement bearing a passive vectorized tracking marker using a non-stereo optical tracker.
Monitoring changes in a handheld surgical implement in three dimensions relative to a surgical site, including determining a working tip location and orientation.
Making a three-dimensionally trackable apparatus having a working tip by permanently integrating and vectorizing a passive tracking marker.
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