Compact optical tracker having at least one visual indicator coupled to each of optical tracker sensors

• US 9,618,621 B2
• Filed: 11/19/2014
• Issued: 04/11/2017
• Est. Priority Date: 11/21/2013
• Status: Active Grant

• Current Assignee: Elbit Systems Limited
• Original Assignee: Elbit Systems Limited
• Inventors: Kornblit, Ron, Ben-Yishai, Rani, Barak, Lior
• Primary Examiner(s): LE, QUE TAN
• Application Number:
  US14/547,542
• Publication Number:
  US 20150136947A1
• Time in Patent Office: 874 Days
• Field of Search: 250221, 2502081, 250214 R
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/875 for determining attitude
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49

Abstract

An optical tracker is provided herein. The tracker may include at least two optical tracker sensors, facing at least partially each other. Each optical tracker sensor may include: a pixel array sensor configured to generate a pixel-by-pixel stream of values representing a scene; at least one visual indicator physically coupled to said pixel array sensor; and an integrated circuit (IC) physically coupled to said at least one pixel array sensor, and configured to: receive said pixel-by-pixel stream of values; and apply a binary large object (BLOB) analysis to said stream, to yield BLOB parameters indicative of the at least one visual indicator present in the scene in a single pass of the pixels representing the scene; and a computer processor configured to receive said BLOB parameters and calculate a relative position and/or orientation, or a partial data thereof, of the at least two optical tracker sensors.

Claims

1. An optical tracker comprising:

at least two optical tracker sensors, facing at least partially each other, wherein at least one of said optical tracker sensors comprises;

at least one pixel array sensor configured to generate a stream of pixel values representing a scene;

an integrated circuit (IC) physically coupled to said at least one pixel array sensor, and configured to;

(a) receive said stream of pixel values;

(b) apply a binary large object (BLOB) analysis to said stream, to yield BLOB parameters indicative of the at least one visual indicator present in the scene in a single pass of the pixels representing the scene;

at least one visual indicator coupled to each of the at least two optical tracker sensors; and

a computer processor configured to receive said BLOB parameters and calculate a relative position and/or orientation, or a partial data thereof, of the at least two optical tracker sensors,

wherein each of the visual indicators coupled to a respective optical tracker sensor is located at a distance of less than 10 cm from a center of any of the pixel array sensors of the corresponding optical tracker sensor.

2. The optical tracker according to claim 1, wherein the total number of the visual indicators physically attached to the at least two optical tracker sensors is at least three for each pair of optical tracker sensors for which the position and orientation is calculated in full.

3. The optical tracker according to claim 1, wherein at least one of the at least two optical tracker sensors is an image capturing device, and wherein the computer processor is configured to calculate the relative position and/or orientation, or a partial data thereof, further based on data derived from the image capturing device.

4. The optical tracker according to claim 1, wherein at least one of the at least two optical tracker sensors is stationary.

5. The optical tracker according to claim 1, wherein at least one of the at least two optical tracker sensors is head-mounted.

6. The optical tracker according to claim 1, wherein at least one of the at least two optical tracker sensors is physically attached to a hand-held device.

7. The optical tracker according to claim 1, wherein at least one of the at least two optical tracker sensors is patient-mounted or rigidly attached to a patient.

8. The optical tracker according to claim 1, wherein said head-mounted optical sensor or hand-held device optical sensor or patient-mounted optical sensor is located within a field of view of at least one of the at least two optical tracker sensors, and wherein the computer processor is further configured to calculate a position and/or orientation, or a partial data thereof, of the head-mounted optical sensor or hand-held device optical sensor or patient-mounted optical sensor, relative to at least one of the at least two optical tracker sensors.

9. The optical tracker according to claim 5, wherein at least one of the two optical tracker sensors is patient-mounted or physically attached to a hand-held device and having at least one visual indicator attached thereto, and wherein the head-mounted optical tracker sensor has at least two visual indicators attached thereto.

10. The optical tracker according to claim 4, wherein at least one of the two optical tracker sensors is patient-mounted or physically attached to a hand-held device and having at least one indicator attached thereto, and wherein the stationary optical tracker sensor has at least two visual indicators attached thereto.

11. The optical tracker according to claim 1, wherein said computer processor is packed within one of said optical tracker sensors.

12. The optical tracker according to claim 1, wherein the computer processor and at least one of the optical tracker sensors are located separately from each other and wherein the at least one optical tracker sensor is further configured to transmit the BLOB parameters over a wired communication channel to the computer processor.

13. The optical tracker according to claim 1, wherein the computer processor and at least one of the optical tracker sensors are located separately from each other and wherein the at least one optical tracker sensor is further configured to transmit the BLOB parameters over a wireless communication channel to the computer processor.

14. The optical tracker according to claim 1, wherein the at least one visual indicator comprises at least one of:

a light source, and a reflector.

15. The optical tracker according to claim 1, wherein the at least one visual indicator is configured to emit or reflect light pulses and wherein the optical tracker further comprises means for synchronization between the light pulses and the at least two optical tracker sensors.

16. The optical tracker according to claim 1, operable in a region of interest (ROI) mode in which only a subset of the stream of pixels is transferred to the IC, wherein the subset of steam of pixels represents a predefined subset of the pixel array associated with the ROI.

17. The optical tracker according to claim 16, wherein the ROI is determined on a frame-by-frame basis based on predicted locations of the at least one visual indicator.

18. The optical tracker according to claim 16, further comprising magnetic or inertial or other tracking means configured to provide tracking data whenever the optical tracker sensors fail, and wherein the optical tracker is configured to resume optical tracking with an ROI that is determined based on the data provided by the magnetic or inertial or other tracking means.

19. The optical tracker according to claim 1, further comprising a housing, wherein at least one optical tracker sensor is coupled to a single visual indicator which is located at a distance less than 10 cm from a center of the pixel sensor array, wherein said single visual indicator and said pixel sensor array are packed within said housing.