Optical tracking systems
AssigneeBeyeonics Surgical Ltd.
InventorRani BEN-YISHAI
Life of this patent
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Abstract
Disclosed herein is an optical tracking system for determining a relative pose between a first coordinate system, which is associated with first and second tracking units configured to be fixed relative to one another; and a second coordinate system, which is associated with a third optical tracking unit, wherein each of the optical tracking units includes an optical sensor and a visual indicator. Further provided are uses of the system, and methods for determining relative pose between objects associated with the tracking units.
Claims21
An optical tracking system comprising:
- a first, second, and third optical tracking units;
- and
- one or more processors communicatively associated with the tracking units;
- wherein each of the tracking units comprises an optical sensor and a visual indicator;
- wherein the first and second tracking units are configured to be fixed relative to one another;
- and
- wherein the one or more processors are configured to determine, when the first and second tracking units are fixed relative to one another, a relative pose between a first coordinate system, which is associated with the first and second tracking units, and a second coordinate system, which is associated with the third tracking unit, based at least on:
- information indicative of a pose of each of the first and second tracking units in the first coordinate system;
- a first data set indicative of at least one direction in the first coordinate system from the optical sensor of the first tracking unit and/or the optical sensor of the second tracking unit towards the visual indicator of the third tracking unit;
- and
- a second data set indicative of two directions in the second coordinate system from the optical sensor of the third tracking unit towards the visual indicator of the first tracking unit and the visual indicator of the second tracking unit.
An optical-based tracking method for determining a relative pose between (i) a first coordinate system, which is associated with a first tracking unit and a second tracking unit, and (ii) a second coordinate system, which is associated with a third tracking unit, each of the tracking units comprises an optical sensor and a visual indicator, the method comprising:
- using the first tracking unit and/or the second tracking unit to obtain a first data set indicative of at least one direction in the first coordinate system from the optical sensor of the first tracking unit and/or the optical sensor of the second tracking unit towards the visual indicator of the third tracking unit;
- using the third tracking unit to obtain a second data set indicative of two directions in the second coordinate system from the optical sensor of the third tracking unit towards the visual indicator of the first tracking unit and the visual indicator of the second tracking unit;
- and
- determining the relative pose between the first coordinate system and the second coordinate system based at least on the first and second data sets and information indicative of a pose of each of the first and second tracking units in the first coordinate system;
- wherein the first and second tracking units are fixed relative to one another.
21-27. (canceled)
Dependencies are inferred from the claim text.