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US 12,588,953 B2Granted
Devices, systems and methods for natural feature tracking of surgical tools and other objects
AssigneeIntellijoint Surgical Inc.
InventorsAndre Novomir Hladio, Armen Garo Bakirtzian, Richard Tyler Fanson
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Abstract
Systems, methods and devices for use in tracking are described, using optical modalities to detect spatial attributes or natural features of objects, such as, tools and patient anatomy. Spatial attributes or natural features may be known or may be detected by the tracking system. The system, methods and devices can further be used to verify a calibration of a tool either by a computing unit or by a user. Further, the disclosure relates to detection of spatial attributes, including depth information, of the anatomy for purposes of registration or to create a 3D surface profile of the anatomy.
Claims20
A system to determine object poses during a surgical navigation procedure, the system comprising:
- a sensor unit comprising an optical sensor configured to generate images of objects within a field of view of the optical sensor;
- and
- a computer processing unit, in communication with the sensor unit and memory storing instructions that, when executed by the processing unit, cause the system to perform a method comprising:
- storing first natural feature information of a first object, the natural feature information defining information to identify the first object in the images using natural visual features of the first object;
- receiving from the sensor unit an image of the first object;
- extracting second natural feature information from natural visual features of the first object in the image;
- and
- calculating the pose of the first object relative to the sensor unit using the first natural feature information and the second natural feature information to facilitate performance of the surgical navigation procedure;
- wherein each of the first natural feature information and second natural feature information is defined from one or more of the natural visual features comprising inherent spatial features comprising any of a shape feature, a pattern feature, a configuration feature or an ornamentation feature;
- and
- wherein the one or more of the natural visual features relate to portions of the first object without including any markers or identifiers applied to the first object for purposes of tracking the first object.
8 more elements
A system to determine object poses during a surgical navigation procedure, the system comprising:
- a sensor unit comprising an optical sensor configured to generate images of objects within a field of view of the optical sensor;
- and
- a computer processing unit, in communication with the sensor unit and memory storing instructions that, when executed by the processing unit, cause the system to perform a method comprising:
- storing first natural feature information of a first object, the natural feature information defining information to identify the first object in the images using natural visual features of the first object;
- receiving from the sensor unit an image of the first object;
- extracting second natural feature information from natural visual features of the first object in the image;
- and
- calculating the pose of the first object relative to the sensor unit using the first natural feature information and the second natural feature information to facilitate performance of the surgical navigation procedure;
- wherein the pose is calculated in any number of degrees of freedom between 2 degrees of freedom and 6 degrees of freedom.
6 more elements
A system to determine object poses during a surgical navigation procedure, the system comprising:
- a sensor unit comprising an optical sensor configured to generate images of objects within a field of view of the optical sensor;
- and
- a computer processing unit, in communication with the sensor unit and memory storing instructions that, when executed by the processing unit, cause the system to perform a method comprising:
- storing first natural feature information of a first object, the natural feature information defining information to identify the first object in the images using natural visual features of the first object;
- receiving from the sensor unit an image of the first object;
- extracting second natural feature information from natural visual features of the first object in the image;
- and
- calculating the pose of the first object relative to the sensor unit using the first natural feature information and the second natural feature information to facilitate performance of the surgical navigation procedure;
- wherein the first natural feature information and the second natural feature information each comprises information defining edges of a cylindrical shaft of the first object.
6 more elements
A system to determine object poses during a surgical navigation procedure, the system comprising:
- a sensor unit comprising an optical sensor configured to generate images of objects within a field of view of the optical sensor;
- and
- a computer processing unit, in communication with the sensor unit and memory storing instructions that, when executed by the processing unit, cause the system to perform a method comprising:
- storing first natural feature information of a first object, the natural feature information defining information to identify the first object in the images using natural visual features of the first object;
- receiving from the sensor unit an image of the first object;
- extracting second natural feature information from natural visual features of the first object in the image;
- and
- calculating the pose of the first object relative to the sensor unit using the first natural feature information and the second natural feature information to facilitate performance of the surgical navigation procedure;
- wherein:
- the sensor unit is configured to provide first images of the field of view in a first light spectrum and second images of the field of view in a second light spectrum that is different from the first light spectrum;
- the image comprises a first image from the first images, the first image including a first object;
- and
- the instructions cause the system to:
- track the first object using the natural visual features of the first object;
- receive a second image comprising one of the second images, the second image including a target coupled to a second object;
- and
- track the second object using the target;
- wherein the first object and second object are tracked relative to a same coordinate reference of the sensor unit.
15 more elements
Dependencies are inferred from the claim text.