System And Method For Image Based Registration And Calibration
AssigneeMAKO Surgical Corp.
InventorsJean Stawiaski, Fadi Ghanam, David Hofmann
Life of this patent
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Abstract
Systems and methods for calibration of a surgical tool having a tracker. At least one camera captures images of the tracker at a first exposure and captures images of the surgical tool at a second exposure with a different exposure time and/or illumination than the first exposure. Controller(s) recognize a pose of the tracker based on the first exposure images and recognize a geometry of the surgical tool based on the second exposure images. The controller(s) correlate the recognized pose of the tracker and the recognized geometry of the surgical tool to define a relationship between the tracker and the surgical tool and calibrate the surgical tool based on the defined relationship.
Claims20
A method of calibrating a surgical tool using a system comprising at least one camera and one or more controllers, and wherein a tracker is coupled to the surgical tool for movement therewith, the method comprising the one or more controllers performing the steps of:
- acquiring one or more first exposure images of the tracker captured at a first exposure with at least one camera;
- recognizing a pose of the tracker based on the one or more first exposure images;
- acquiring one or more second exposure images of the surgical tool captured at a second exposure with the at least one camera, wherein the second exposure is different than the first exposure with respect to one or both of:
- exposure time and illumination;
- recognizing a geometry of the surgical tool based on the one or more second exposure images;
- correlating the recognized pose of the tracker and the recognized geometry of the surgical tool to define a relationship between the tracker and the surgical tool;
- and
- calibrating the surgical tool based on the defined relationship.
A system for calibrating a surgical tool, wherein a tracker is coupled to the surgical tool for movement therewith, the system comprising:
- at least one camera being configured to:
- capture one or more first exposure images of the tracker at a first exposure;
- and
- capture one or more second exposure images of the surgical tool at a second exposure, wherein the second exposure is different than the first exposure with respect to one or both of:
- exposure time and illumination;
- and
- one or more controllers coupled to the at least one camera and being configured to:
- recognize a pose of the tracker based on the one or more first exposure images;
- recognize a geometry of the surgical tool based on the one or more second exposure images;
- correlate the recognized pose of the tracker and the recognized geometry of the surgical tool to define a relationship between the tracker and the surgical tool;
- and
- calibrate the surgical tool based on the defined relationship.
A surgical system comprising:
- a surgical tool;
- a tracker coupled to the surgical tool;
- at least one camera being configured to:
- capture one or more first exposure images of the tracker at a first exposure;
- and
- capture one or more second exposure images of the surgical tool at a second exposure, wherein the second exposure is different than the first exposure with respect to one or both of:
- exposure time and illumination;
- and
- one or more controllers coupled to the at least one camera and being configured to:
- recognize a pose of the tracker based on the one or more first exposure images;
- recognize a geometry of the surgical tool based on the one or more second exposure images;
- and
- correlate the recognized pose of the tracker and the recognized geometry of the surgical tool to define a relationship between the tracker and the surgical tool.
Dependencies are inferred from the claim text.