Model registration system and method

• US 10,022,065 B2
• Filed: 11/29/2015
• Issued: 07/17/2018
• Est. Priority Date: 11/30/2014
• Status: Active Grant

• Current Assignee: Elbit Systems Limited
• Original Assignee: Elbit Systems Limited
• Inventors: Ben-Yishai, Rani, Barak, Lior
• Primary Examiner(s): Lamprecht, Joel
• Application Number:
  US15/531,685
• Publication Number:
  US 20170354342A1
• Time in Patent Office: 961 Days
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging

Abstract

System for registering a coordinate system associated with a pre-acquired model of an object with a reference coordinate system. The system includes a portable unit which includes a display, a tracking system for tracking the portable unit and a processor. The processor is coupled with the portable unit and with the tracking system. The processor determines the position and orientation of the portable unit. The processor further determines the position of at least one marker located on the object according to at least one of, a tracked pointer and respective position related information. The processor further displays registration related information on the display. At least one of the registration related information and the display location of the registration related information are related to the position and orientation of the portable unit. The position of the at least one marker, in the coordinate system associated with the pre-acquired model, is predetermined.

Claims

1. A system for registering a coordinate system associated with a pre-acquired model of an object, with a reference coordinate system, the system comprising:

a portable unit including;

a display; and

an optical detection assembly for acquiring at least one image of at least one marker located on said object;

a tracking system for tracking said portable unit in said reference coordinate system; and

a processor, coupled with said portable unit and with said tracking system, said processor configured to determine a position and orientation of said portable unit in said reference coordinate system, said processor further configured to determine a position of said at least one marker located on said object in said reference coordinate system, according to position related information determined from said at least one image, said processor further configured to display registration related information on said display, at least one of said registration related information and a display location of said registration related information being related to the position and orientation of said portable unit in said reference coordinate system,

wherein the position of said at least one marker in said coordinate system associated with a pre-acquired model of said object is predetermined.

2. The system according to claim 1, wherein said registration related information includes at least one of:

a marker indicator;

a marker identifier;

an error associated with a determined location of a marker;

a registration score;

instructions to a user; and

user selection options.

3. The system according to claim 2, where said user instructions include at least one of:

instruction to change view point; and

instruction to move in a specified direction.

4. The system according to claim 2, wherein at least one of a size of said marker indicator, a shape of said marker indicator and a color of said marker indicator is related to at least one of type one error estimation and type two error estimation associated with each marker.

5. The system according to claim 1, wherein when at least some of said markers are fiducial markers, said processor is configured to identify at least one of said fiducial markers being within a field of view of said optical detection assembly, said optical detection assembly being attached to said portable unit,

wherein for each of at least one registration position, said processor determines respective position related information of each of said at least one marker being within the field of view of said optical detection assembly;

and

wherein said processor is configured to determines the position of each of said at least one marker in said reference coordinate system according to the respective position and orientation of said portable unit in each of said at least one registration position and said position related information respective of each of said at least one marker.

6. The system according to claim 5, wherein said position related information is one of:

a direction from said portable unit toward said marker;

at least two directions from said portable unit toward said marker; and

a direction and a distance from said portable unit toward said marker.

7. The system according to claim 5, further directing a user to move in a direction where additional markers would be within the field of view of said optical detection assembly.

8. The system according to claim 5, wherein said reference unit includes at least three light emitters, and

wherein said processor is configured to determine the position and orientation of said portable unit according to at least one image of said at least three light emitters acquire by an optical detector.

9. The system according to claim 5, wherein said reference unit includes an optical detector,

wherein, at least one light emitter is located on said reference unit and at least one light emitter is located on said portable unit, and

wherein, a total number of said light emitters is at least three;

and

wherein said processor is configured to determine the position and orientation of said portable unit according to at least one image of said at least one light emitter located on a reference image and acquired by said optical detector and at least one image of said at least one light emitter located on said portable unit and acquired by a second optical detector.

10. The system according to claim 1, wherein, said optical detection assembly is one of a sensor array camera and a position sensitive device, and

wherein said position related information is at least one direction from said portable unit toward said marker.

11. The system according to claim 1, wherein at least some of said markers are anatomical landmarks.

12. The system according to claim 11, wherein said processor is configured to determine the position of at least some of said markers according to the position and orientation of a tracked pointer when said pointer touches each of said anatomical landmarks.

13. The system according to claim 1, wherein said portable unit is one of a Head Mounted Display, a unit attached to a movable arm, and a hand held unit.

14. The system according to claim 13, wherein said display is one of;

optical see through display; and

video see through display.

15. The system according to claim 1, wherein said optical detection assembly is a three dimensional optical detection assembly.

16. The system according to claim 15, wherein said optical detection assembly is a stereoscopic camera, and

wherein said position related information is at least two directions from said portable unit toward said marker.

17. The system according to claim 15, wherein said optical detection assembly is a Time Of Flight Camera, and

wherein said position related information is a direction toward said marker and a distance between said portable unit and said marker.

18. A method for displaying registration related information comprising:

determining a position of markers in a coordinate system associated with a pre-acquired model of an object, said markers being located on said object;

determining a position and orientation of a portable unit in a reference coordinate system, said portable unit including a display and the optical detection assembly for acquiring at least one image of a marker;

determining the position of at least three of said markers in a reference coordinate system from said at least one image and said position and orientation of said portable unit;

registering said coordinate system associated with said pre-acquired model of the object with said reference coordinate system according to the respective determined positions of said at least three of said markers, in both coordinate systems; and

displaying registration related information on said display, at least one of said registration related information and a display location of said registration related information being related to the position and orientation of said portable unit in said reference coordinate system.

19. The method according to claim 18, wherein said registration related information includes at least one of:

a marker indicator;

a marker identifier;

an error estimation associated with a determined location of a marker;

a registration error estimation;

instructions to a user; and

user selection options.

20. The method according to claim 19, where said user instructions include at least one of:

instruction to change view point; and

instruction to move in a specified direction.

21. The method according to claim 19, wherein at least one of a size of said marker indicator, a shape of said marker indicator and a color of said marker indicator is related to at least one of type one error estimation and type two error estimation associated with each marker.

22. The method according to claim 18, wherein said determining the position of at least three of said markers further includes determining a position error estimation associated with each located marker, and

wherein registering further includes determining a registration error estimation.

23. The method according to claim 18, wherein when at least some of said markers are fiducial markers, said determining the position of at least three of said markers includes, for at least one marker:

identifying said at least one marker within a field of view of said optical detection assembly, said optical detection assembly being attached to said portable unit;

for each of at least one registration position, determining respective position related information of each of said at least one marker being within the field of view of said optical detection assembly; and

determining the position of each of said at least one marker in said reference coordinate system according to the respective position and orientation of said portable unit in each of said at least one registration position and said position related information respective of each of said at least one marker.

24. The method according to claim 22, further including directing a user to move in a direction where additional markers would be within a field of view of said optical detection assembly.

25. The method according to claim 22, wherein said position related information is one of:

a direction from said portable unit toward said marker;

at least two directions from said portable unit toward said marker; and

a direction and a distance from said portable unit toward said marker.

26. The method according to claim 18, wherein at least some of said markers are anatomical landmarks.

27. The method according to claim 26, wherein determining the position of at least some of said anatomical markers is performed with a tracked pointer.

28. The method according to claim 18, wherein said pre-acquired model is stored in a database.