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.
Claims21
A surgical navigation system comprising:
- a first optical sensor operating in a first spectrum of light;
- a second optical sensor operating in a second spectrum of light;
- and
- at least one processor configured to:
- receive first image data from the first optical sensor and second image data from the second optical sensor, the first and second optical sensors having an overlapping field of view;
- calculate poses of a target within the overlapping field of view from the first image data in 2 to 6 degrees of freedom (DOF), the target coupled to an object to be tracked;
- and
- provide the poses, and a video feed defined from the second image data;
- wherein the first and second optical sensors are co-registered to a common coordinate frame.
An object tracking system comprising:
- a first optical sensor and a second optical sensor having a fixed positional relationship and an overlapping field of view, the first optical sensor configured for use with an infrared spectrum of light and the second optical sensor configured for use with a visible spectrum of light;
- and
- at least one processor and at least one storage device storing instructions executable by the at least one processor to configure the system to:
- receive from the first optical sensor and the second optical sensor respective first image data and second image data for a target coupled to an object to be tracked, wherein the target is configured for use in the infrared spectrum of light, and the first and second optical sensors are co-registered to a common coordinate frame;
- and
- determine object pose information using the first image data and pre-loaded object feature information;
- and
- provide the object pose information, and a video feed comprising the second image data.
A surgical navigation system comprising:
- an infrared-based optical sensor configured to receive infrared light to track a target coupled to an object, the target configured to provide infrared light for object tracking during a navigated surgical procedure, and the object comprising a portion of patient anatomy or a surgical object comprising a tool or an implant;
- a second optical sensor having a fixed positional relationship and an overlapping field of view with the infrared-based optical sensor, the second optical sensor configured to receive a visible spectrum of light, and the first and second optical sensors being co-registered to a common coordinate frame;
- one or more surgical objects for use in the navigated surgical procedure;
- and
- at least one processor and at least one storage device storing instructions executable by the at least one processor to configure the system to:
- receive from the infrared-based optical sensor and the second optical sensor respective first image data and second image data including the target;
- determine pose information associated with the target using the first image data and pre-loaded object feature information;
- and
- present a composite video feed of images from the second image data and graphical information positioned in response to the pose information.
Dependencies are inferred from the claim text.