System for determining a three-dimensional position of a testing tool

• US 10,648,790 B2
• Filed: 03/01/2017
• Issued: 05/12/2020
• Est. Priority Date: 03/02/2016
• Status: Active Grant

• Current Assignee: Truinject Corp.
• Original Assignee: Truinject Corp.
• Inventors: Foster, Clark B., Royston, Scott Cameron
• Primary Examiner(s): D'Agostino, Paul A
• Application Number:
  US15/446,405
• Publication Number:
  US 20170254636A1
• Time in Patent Office: 1,168 Days
• Field of Search: None
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
• CPC Class Codes: G09B 23/30 Anatomical models G09B23/281 - G09B23/288 take precedence
• CPC Class Codes: G09B 9/00 Simulators for teaching or training purposes for the use of weapons F41; computing aspects G06; protocols for games, networked simulations or virtual reality H04L67/131
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

A system for determining a three-dimensional position of a tip of a testing tool in an anatomic training model can be used for injection training. The system can include first and second cameras positioned in the anatomic training model. The first and second cameras can each detect an area of light emitted from the tip of the testing tool. The system can also include a processing unit configured to trace the emitted light away from a location of a centroid of the area of emitted light in the first camera and a location of a centroid of the area of emitted light in the second camera respectively, and calculate a three-dimensional position of the distal tip of the testing tool based on the locations of the centroids. The calculation can take into account refraction of the emitted light through an innermost layer of the training model.

Claims

1. An injection training system, the system comprising:

an anatomic training model, the training model including one or more resilient layers configured to receive a tip of a testing tool and a rigid innermost layer, the one or more resilient layers and rigid innermost layer being optically transmissive, the innermost layer defining a cavity within the training model;

a first camera mounted within the cavity, the first camera having a first central viewing axis;

a second camera mounted within the cavity, the second camera having a second central viewing axis extending at an angle offset from the first central viewing axis, the first and second cameras each having fields of view configured to detect light emitting from the tip of the testing tool, wherein the first camera is positioned in a superior portion of the anatomic training model and the second camera is positioned in an inferior portion of the anatomic training model so as to increase an overlapping field of view covering at least partially an anterior portion of the anatomic training model; and

a processing unit configured to determine a three-dimensional position of the tip of the testing tool based on locations of the centroids of emitted light detected in the fields of view of the first and second cameras and refraction of the emitted light through the innermost layer.

2. The system of claim 1, further comprising a support structure configured for mounting the first and second cameras.

3. The system of claim 1, wherein the testing tool comprises a syringe, a biopsy needle, a catheter, or another type of injection device.

4. The system of claim 1, further comprising an output device in communication with the processing unit and/or the first and second cameras and configured to generate information regarding injection parameters based on the communications.

5. The system of claim 1, wherein the first central viewing axis is at a ninety degree angle with respect to the second central viewing axis.

6. The system of claim 1, wherein the one or more resilient layers comprise at least one elastomeric layer.

7. The system of claim 1, wherein the training model further comprises an opaque outer skin layer.

8. The system of claim 1, wherein the training tool comprises an optical fiber configured to emit light from the tip of the training tool.

9. An injection training system, the system comprising:

an anatomic training model, the training model configured to receive a tip of a testing tool, the training model comprising an inner cavity;

a first camera mounted within the cavity, the first camera having a first central viewing axis, wherein the first camera has a first plurality of intrinsic and/or extrinsic parameters; and

a processing unit configured to determine a location of a centroid of emitted light detected in the field of view of the first camera, the light being emitted from the tip of the testing tool at a known three-dimensional position,

wherein the processing unit is further configured to adjust the first plurality of intrinsic and/or extrinsic parameters based on one or more reference three-dimensional positions and corresponding locations of the centroid of emitted light.

10. The system of claim 9, further comprising a second camera mounted within the cavity, the second camera having a second central viewing axis extending at an angle offset from the first central viewing axis, the camera having a second plurality of intrinsic and/or extrinsic parameters.

11. The system of claim 10, wherein the processing unit is configured to adjust the second plurality of intrinsic and/or extrinsic parameters based on the one or more reference three-dimensional positions and corresponding locations of the centroid of emitted light.

12. The system of claim 9, wherein the intrinsic parameters comprise one or more of focal length, image sensor format, principal point, and/or lens distortion.

13. The system of claim 9, wherein the extrinsic parameters comprise one or more of position of a camera, rotation of a camera, and/or coordinate system transformations from coordinates of a chosen coordinate system to 3D camera coordinates.

14. An injection training system, the system comprising:

a first camera mounted within an anatomic training model, the anatomic training model configured to receive a tip of a testing tool, the first camera having a first central viewing axis;

a second camera mounted within the anatomic training model, the second camera having a second central viewing axis extending at an angle offset from the first central viewing axis, wherein the first camera is positioned in a superior portion of the anatomic training model and the second camera is positioned in an inferior portion of the anatomic training model, the first and second cameras positioned at a distance from each other, the first central viewing axis extending anteriorly and inferiorly and the second central viewing axis extending anteriorly and superiorly, the first and second cameras each having fields of view configured to detect light emitting from the tip of the testing tool such that relative positions and orientations of the first and second cameras are configured to increase an overlapped region of the field views of the first and second camera; and

a processing unit configured to determine a three-dimensional position of the tip of the testing tool based at least on locations of the centroids of emitted light detected in the fields of view of the first and second cameras.

15. The system of claim 14, wherein the first central viewing axis is at between about 1 to about 90 degree angle with respect to the second central viewing axis.

16. The system of claim 14, wherein the processing unit is further configured to determine the three-dimensional position of the tip of the testing tool based refraction of the emitted light through the training model.