Inertially tracked objects
AssigneeMAKO Surgical Corp.
InventorsChris Lightcap, Hyosig Kang
Life of this patent
Estimating the term…
Abstract
Described are computer-based methods and apparatuses, including computer program products, for inertially tracked objects with a kinematic coupling. A tracked pose of a first inertial measurement unit (IMU) is determined, wherein the first IMU is mounted to a first object. The tracked pose of the first IMU is reset while the first object is in a first reproducible reference pose with a second object.
Claims21
A method of initializing or resetting a tracking element, comprising:
- initializing or resetting, by an inertial tracking system, an initial pose of a first inertial measurement unit (IMU) and a second IMU while the first and second IMUs are temporarily mechanically coupled together in a reproducible reference pose, wherein the initial poses of the first IMU and second IMU are known and achieved when the IMUs are coupled together in the reproducible reference pose;
- determining, by the inertial tracking system, a tracked pose of the first (IMU), wherein the first IMU is mounted to a first object;
- determining, by the inertial tracking system, a tracked pose of the second (IMU) relative to the first IMU wherein the second IMU is mounted to a second object;
- and
- resetting the initial pose of the first IMU and the second IMU, thereby eliminating drift caused over time between the tracked pose and the actual pose of the first IMU and second IMU, when the first IMU and the second IMU are returned to the reproducible reference pose.
A method of initializing or resetting a tracking element, comprising:
- moving a first IMU and a second IMU into a reproducible reference pose, wherein the actual pose of the first IMU and the second IMU are known when in the reproducible reference pose;
- setting an initial tracked pose of the first IMU and the second IMU when the IMUs are in the reproducible reference pose, such that the tracked poses of the IMUs correspond with the actual poses;
- tracking the first IMU and the second IMU based on the initial tracked poses;
- and
- returning the first IMU and the second IMU to the reproducible reference pose to eliminate draft occurring between the actual poses and the tracked poses since the previous setting of the initial tracked pose in the reproducible reference pose.
A computer program product, tangibly embodied in a computer readable storage medium, the computer program product including instructions being operable to cause a data processing apparatus to:
- initialize or reset, by an inertial tracking system, an initial pose of a first inertial measurement unit (IMU) and a second IMU while the first and second IMUs are temporarily mechanically coupled together in a reproducible reference pose, wherein the initial poses of the first IMU and second IMU are known and achieved when the IMUs are coupled together in the reproducible reference pose;
- determine, by an inertial tracking system, a tracked pose of the first inertial measurement unit (IMU), wherein the first IMU is mounted to a first object;
- determine, by an inertial tracking system, a tracked pose of the second (IMU) relative to the first IMU wherein the second IMU is mounted to a second object;
- and
- reset the initial pose of the first IMU and the second IMU, thereby eliminating drift caused over time between the tracked pose and the actual pose of the first IMU and second IMU, when the first IMU and the second IMU are returned to the reproducible reference pose.
Dependencies are inferred from the claim text.