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-12514678-B2
Publication Date
2026-01-06
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 a handheld implement having a three-dimensionally trackable location and a three-dimensionally trackable orientation. A passive vectorized tracking marker is permanently integrated with the implement at a predetermined location and a predetermined orientation with respect to the implement, and the marker has a rotationally asymmetric pattern of elements disposed on contrasting tiles so that a tracker can three-dimensionally track both location and orientation.
A controller, with a processor and memory, retrieves geometric information describing at least one of a rotationally asymmetric shape and a rotationally asymmetric pattern from a database. The controller compares tracker image information with the stored geometric information to compute a pose of the tracking marker and thereby support tracking of the implement in three dimensions.
The invention further discloses use of a contactlessly interrogatable microchip to store calibration geometric information, including a database of geometric information and spatial relationships associated with a working tip for interchangeable tool portions. The microchip can be configured as an RFID microchip or an NFC microchip, and the system can support automatic registration to a single scan-visible fiducial reference.
Claims Coverage
The independent claims (two total) define a handheld implement or a trackable tool system using a passive vectorized tracking marker with a rotationally asymmetric pattern on contrasting tiles permanently integrated at a predetermined location and orientation, together with a memory/database of geometric information describing the rotationally asymmetric shape/pattern used for tracking.
Passive vectorized tracking marker permanently integrated for 3D location and orientation tracking
A handheld implement having a three-dimensionally trackable location and three-dimensionally trackable orientation, the implement comprising a passive vectorized tracking marker permanently integrated with the implement at a predetermined location in a predetermined orientation, where the tracking marker has a rotationally asymmetric pattern of elements disposed on contrasting tiles and is configured and arranged for a tracker to three-dimensionally track the location and to three-dimensionally track the orientation.
Trackable tool system with geometric-information database for marker shape/pattern
A trackable tool system comprising a handheld implement having a three-dimensionally trackable location and three-dimensionally trackable orientation, the implement comprising a passive vectorized tracking marker permanently integrated at a predetermined location and a predetermined orientation with a rotationally asymmetric pattern disposed on contrasting tiles, and a memory comprising a database comprising geometric information describing at least one of a rotationally asymmetric shape and a rotationally asymmetric pattern disposed on the tracking marker.
Across the two independent claims, the central inventive concept is the combination of a passive vectorized tracking marker permanently integrated at a predetermined location and orientation on a handheld implement, where the marker provides rotationally asymmetric patterning on contrasting tiles, together with memory/database-stored geometric information describing the rotationally asymmetric shape/pattern used to support three-dimensional pose tracking.
Stated Advantages
Enables three-dimensionally tracking of the location of the handheld implement.
Enables three-dimensionally tracking of the orientation of the handheld implement.
Supports tracking of working-tip pose for interchangeable tool portions based on identification from image-resolved dimensions together with marker pose.
Documented Applications
Surgical navigation and tool tracking using a handheld implement with a permanently integrated passive vectorized tracking marker.
Tracking interchangeable tool portions, including drill bits and scalpel blades, using marker pose and image-resolved dimensions to determine working-tip pose.
Automatic registration to a single scan-visible fiducial reference as part of the tracking workflow.
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