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US 10,650,536 B2Granted
Systems and methods for tracker characterization and verification
AssigneeIntellijoint Surgical Inc.
InventorsAndre Novomir Hladio, Richard Tyler Fanson, Luke Becker, Arash Abadpour, Joseph Arthur Schipper
Life of this patent
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Abstract
The present application relates to systems and methods used to characterize or verify the accuracy of a tracker comprising optically detectable features. The tracker may be used in spatial localization using an optical sensor. Characterization results in the calculation of a Tracker Definition that includes geometrical characteristics of the tracker. Verification results in an assessment of accuracy of a tracker against an existing Tracker Definition.
Claims20
A system comprising:
- a computer-readable storage device storing instructions and/or data which, when executed on a computing unit, configures the computing unit to:
- receive a first image of a tracker from an optical sensor at a first vantage point and a first inertial measurement from one or more inertial sensors, wherein the one or more inertial sensors are co-registered to the optical sensor and wherein the first image and first inertial measurement are obtained by the respective optical sensor and one or more inertial sensors when the tracker is at a resting position in a field of view of the optical sensor;
- receive a second image of the tracker from the optical sensor at a second vantage point and a second inertial measurement from the one or more inertial sensors, wherein the second image and second inertial measurement are obtained by the respective optical sensor and one or more inertial sensors when the tracker is at the resting position in a field of view of the optical sensor;
- calculate at least one of:
- a tracker definition using the first image, the second image and a difference in orientation in at least 2 DOF between the first vantage point and the second vantage point;
- and
- a tracker assessment parameter using the first image, the second image, the difference in orientation in at least 2 DOF between the first vantage point and the second vantage point, and a static tracker definition;
- and
- provide one of the tracker definition and the tracker assessment parameter for use in a localization procedure.
6 more elements
A computer-implemented method comprising:
- receiving, by a computing unit, a first image of a tracker from an optical sensor at a first vantage point and a first inertial measurement from one or more inertial sensors, wherein the one or more inertial sensors are co-registered to the optical sensor and wherein the first image and first inertial measurement are obtained by the respective optical sensor and one or more inertial sensors when the tracker is at a resting position in a field of view of the optical sensor;
- receiving, by the computing unit, a second image of the tracker from the optical sensor at a second vantage point and a second inertial measurement from the one or more inertial sensors, wherein the second image and second inertial measurement are obtained by the respective optical sensor and one or more inertial sensors when the tracker is at the resting position in a field of view of the optical sensor;
- and
- calculating, by the computing unit, at least one of:
- a tracker definition using the first image, the second image and a difference in orientation in at least 2 DOF between the first vantage point and the second vantage point;
- and
- a tracker assessment parameter using the first image, the second image, the difference in orientation in at least 2 DOF between the first vantage point and the second vantage point and a static tracker definition;
- and
- providing the at least one of the tracker definition and the tracker assessment parameter for display and/or use in a procedure.
6 more elements
A system comprising:
- a computer-readable storage device storing instructions and/or data which, when executed on a computing unit, configures the computing unit to:
- receive a first image of a tracker from an optical sensor at a first vantage point and a first inertial measurement from one or more inertial sensors, wherein the one or more inertial sensors are co-registered to the optical sensor and wherein the first image and first inertial measurement are obtained by the respective optical sensor and one or more inertial sensors when the tracker is at a resting position in a field of view of the optical sensor;
- and
- calculate a tracker assessment parameter using the first image, the first inertial measurement, the resting position of the tracker, and a static tracker definition;
- and
- provide the tracker assessment parameter for display and/or use in a procedure.
3 more elements
A computer-implemented method comprising:
- receiving, by a computing unit, a first image of a tracker from an optical sensor at a first vantage point and a first inertial measurement from one or more inertial sensors, wherein the one or more inertial sensors are co-registered to the optical sensor and wherein the first image and first inertial measurement are obtained by the respective optical sensor and one or more inertial sensors when the tracker is at a resting position in a field of view of the optical sensor;
- and
- calculating, by the computing unit, a tracker assessment parameter using the first image, the first inertial measurement, the resting position of the tracker, and a static tracker definition;
- and
- providing the tracker assessment parameter for display and/or use in a procedure.
2 more elements
Dependencies are inferred from the claim text.