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-9198737-B2
Publication Date
2015-12-01
Expiration Date
Abstract
A three-dimensional position and orientation tracking system comprises one or more pattern tags, each comprising a plurality of contrasting portions, a tracker for obtaining image information about the pattern tags, a database with geometric information describing patterns on pattern tags; and a controller for receiving and processing the image information from the tracker, accessing the database to retrieve geometric information, and comparing the image information with the geometric information. The contrasting portions are arranged in a rotationally asymmetric pattern and at least one of the contrasting portions on a pattern tag has a perimeter that has a mathematically describable curved section. The pattern tags may be borne on tracking markers that have a three-dimensional shaped surface. The tracking system can be implemented in a surgical monitoring system in which the pattern tags are attached to tracking markers or are themselves tracking markers. A method associated with the system employs the rotationally asymmetric patterns on the tags to determine the three-dimensional locations and orientations of items bearing the tags using non-stereo image information.
Core Innovation
The invention provides a three-dimensional position and orientation tracking system using a tracking marker that bears at least one pattern tag. The pattern tag includes a plurality of contrasting portions, where at least one contrasting portion has a perimeter comprising a mathematically describable curved section, and the tracking marker has a shape with a surface that extends in three dimensions.
A tracker obtains image information about the at least one pattern tag, and a database includes geometric information describing a pattern on the at least one pattern tag. A controller receives and processes the image information, accesses the database to retrieve the geometric information, and compares the image information with the geometric information to identify and obtain the three-dimensional orientation and the three-dimensional location of the at least one pattern tag based on the mathematically describable curved section.
In surgical monitoring, the invention spatially relates tracker image information to previously obtained scan data using a fiducial reference and an associated tracking marker. The fiducial reference is configured for removably attaching proximate the surgical site, and the controller determines the three-dimensional location and orientation of the fiducial reference by relating the image information to the scan data on the basis of the mathematically describable curved section.
Claims Coverage
The independent claims cover a three-dimensional tracking system, a method for tracking using image information and database geometric perimeter information to determine three-dimensional location and three-dimensional rotational orientation, and a surgical monitoring system that spatially relates tracker image information to previously obtained scan data using a removable fiducial reference. The key inventive features are the rotationally asymmetric pattern tag with contrasting portions whose perimeter includes a mathematically describable curved section, and the controller or determining steps that obtain 3D location and 3D rotational orientation by comparing tracker-derived image information with stored geometric information.
Mathematically describable curved perimeter contrasting portions on a 3D marker
A tracking marker bearing at least one pattern tag comprising a plurality of contrasting portions, at least one of the plurality of contrasting portions having a perimeter comprising a mathematically describable curved section, the tracking marker having a shape with a surface that extends in three dimensions.
Database-stored geometric information and image comparison for 3D pose
A database comprising geometric information describing a pattern on the at least one pattern tag, and a controller configured to receive and process the image information from the tracker, access the database to retrieve geometric information, and compare the image information with the geometric information to identify and obtain a three-dimensional orientation and a three-dimensional location of the at least one pattern tag.
3D location and rotational orientation from unique pattern tag identification and geometric perimeter information
Identifying the at least one pattern tag within the image information on the basis of its unique pattern; obtaining from a database geometric information about the at least one pattern tag, the geometric information comprising a mathematical description of at least a section of the perimeter of at least one contrasting portion of the at least one pattern tag; determining from the image information the location of at least one pattern reference point based on the geometric information; and determining from the image information the three-dimensional rotational orientation of the at least one pattern tag based on the geometric information and the at least one pattern reference point.
Surgical spatial relation of tracker image information to previously obtained scan data using a removable fiducial reference
A surgical monitoring system comprising a tracker for obtaining image information of a surgical site; a fiducial reference configured for removably attaching to a location proximate the surgical site; a tracking marker in fixed three-dimensional spatial relationship with the fiducial reference and observable by the tracker; and a controller configured to spatially relate image information to previously obtained scan data, determining the three-dimensional location and orientation of the fiducial reference by relating the image information to the scan data on the basis of the mathematically describable curved section.
Across the independent claims, the coverage focuses on pattern tags with rotationally asymmetric contrasting portions having a mathematically describable curved perimeter section, and on determining three-dimensional location and three-dimensional rotational orientation by relating tracker image information to database geometric information that mathematically describes a perimeter section. In the surgical monitoring independent claim, the controller additionally spatially relates tracker image information to previously obtained scan data to determine the 3D location and orientation of a removable fiducial reference.
Stated Advantages
Documented Applications
A surgical monitoring system for relating tracker image information of a surgical site to previously obtained scan data and determining the three-dimensional location and orientation of a fiducial reference proximate the surgical site.
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