Methods and systems for object tracking

• US 9,341,704 B2
• Filed: 04/13/2011
• Issued: 05/17/2016
• Est. Priority Date: 04/13/2010
• Status: Active Grant

• Current Assignee: Surgiconcept, Ltd.
• Original Assignee: Frederic Picard, Gontje C. Claasen, Philippe P. Martin
• Inventors: Picard, Frederic, Claasen, Gontje C., Martin, Philippe P.
• Primary Examiner(s): Lefkowitz, Sumati
• Assistant Examiner(s): Wang, Carol
• Application Number:
  US13/640,783
• Publication Number:
  US 20130064427A1
• Time in Patent Office: 1,861 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49

Abstract

Methods and systems for object tracking are disclosed in which the bandwidth of a “slow” tracking system (e.g., an optical tracking system) is augmented with sensor data generated by a “fast” tracking system (e.g., an inertial tracking system). The tracking data generated by the respective systems can be used to estimate and/or predict a position, velocity, and orientation of a tracked object that can be updated at the sample rate of the “fast” tracking system. The methods and systems disclosed herein generally involve an estimation algorithm that operates on raw sensor data (e.g., two-dimensional pixel coordinates in a captured image) as opposed to first processing and/or calculating object position and orientation using a triangulation or “back projection” algorithm.

Claims

1. A system for tracking motion of an object comprising:

an object comprising a plurality of optical markers rigidly connected to the object and an inertial transmitter for transmitting high speed signals of object movement;

at least one camera for imaging said plurality of markers and generating image data indicative of the object location;

a receiver for receiving inertial movement signals from the inertial transmitter; and

a processor for executing an estimation algorithm, the estimation algorithm merging the optically-derived image data and the high speed inertial movement signals to generate estimated motion data at a frequency of 300-500 Hz, wherein the estimation algorithm is a multiplicative extended kalman filter and operates directly on raw image data comprising a plurality of two dimensional pixel coordinates.

2. The system of claim 1, wherein the estimated motion data comprises a position of the object, a velocity of the object, and an orientation of the object.

3. The system of claim 1, wherein the inertial transmitter further comprises gyroscopic and accelerometer sensors to provide six degrees of movement tracking.

4. The system of claim 3, wherein the estimation algorithm only receives as inputs a plurality of two-dimensional pixel coordinates, a set of sensor readings generated by the gyroscopic and accelerometer sensors, and previously generated estimated motion data.

5. The system of claim 1, wherein the object further comprises at least three markers.

6. The system of claim 1, wherein the object further comprises at least four markers.

7. The system of claim 1, wherein the system comprises at least two cameras.

8. The system of claim 1, wherein the object includes a mating element for mating the object to another instrument.

9. The system of claim 1, wherein the inertial movement signals are generated at a sample rate that is at least three times a sample rate of the location signals generated by the camera.

10. The system of claim 1, further comprising a servo-control configured to adjust at least one of a position, a velocity, and an orientation of the object.

11. The system of claim 10, wherein the servo-control compensates for a motion disturbance detected from the estimated motion data by adjusting at least one of the position, the velocity, and the orientation of the object.

12. A method for locating a moving object, comprising:

receiving, at a first sample rate, image data from at least one camera, said data representing at least one image of an object having a plurality of optical markers mounted thereto;

receiving, at a second higher sample rate, inertial movement signals from an inertial sensor coupled to the object; and

using an estimation algorithm to generate estimated motion data of the object by merging the image data and the inertial movement signals

wherein the estimation algorithm is a multiplicative extended kalman filter and operates directly on new image data comprising a plurality of two-dimensional pixel coordinates.

13. The method of claim 12, wherein the step of using an estimation algorithm to generate estimated motion data is performed at the second sample rate.

14. The method of claim 12, wherein the second sample rate is 300-500 Hz.

15. The method of claim 12, wherein the estimated motion data comprises a position of the object, a velocity of the object, and an orientation of the object.

16. The method of claim 12, wherein the estimation algorithm only receives as inputs a plurality of two-dimensional pixel coordinates, the inertial movement signals, and previously generated estimated motion data.

17. The method of claim 12, further comprising actuating a servo-control to adjust at least one of a position, a velocity, and an orientation of the object in response to a disturbance detected from the estimated motion data.

18. A system for navigated surgery comprising:

a surgical tool comprising a plurality of optical markers rigidly connected to the surgical tool and an inertial transmitter for transmitting high speed signals of tool movement;

at least one camera for imaging said plurality of markers and generating image data indicative of the tool location;

a receiver for receiving inertial movement signals from the inertial transmitter;

a processor for executing an estimation algorithm, the estimation algorithm merging the optically-derived image data and the high speed inertial movement signals to generate estimated motion data at a frequency of 300-500 Hz, wherein the estimation algorithm is a multiplicative extended kalman filter and operates directly on raw image data comprising a plurality of two-dimensional pixel coordinates.

19. The system of claim 18, wherein the estimated motion data comprises a position of the tool, a velocity of the tool, and an orientation of the tool.

20. The system of claim 18, wherein the inertial transmitter further comprises gyroscopic and accelerometer sensors to provide six degrees of movement tracking.

21. The system of claim 20, wherein the estimation algorithm only receives as inputs a plurality of two-dimensional pixel coordinates, a set of sensor readings generated by the gyroscopic and accelerometer sensors, and previously generated estimated motion data.

22. The system of claim 18, wherein the tool further comprises at least three markers.

23. The system of claim 18, wherein the tool further comprises at least four markers.

24. The system of claim 18, wherein the system comprises at least two cameras.

25. The system of claim 18, wherein the tool includes a mating element for mating the tool to another instrument.

26. The system of claim 18, wherein the inertial movement signals are generated at a sample rate that is at least three times a sample rate of the location signals generated by the camera.

27. The system of claim 18, further comprising a servo-control configured to adjust at least one of a position, a velocity, and an orientation of the surgical tool.

28. The system of claim 27, wherein the servo-control compensates for a motion disturbance detected from the estimated motion data by adjusting at least one of the positon, the velocity, and the orientation of the surgical tool.