Tracking system and tracking method using same

• US 10,799,299 B2
• Filed: 08/11/2015
• Issued: 10/13/2020
• Est. Priority Date: 08/13/2014
• Status: Active Grant

• Current Assignee: Koh Young Technology Inc., Kyungpook National University
• Original Assignee: Koh Young Technology Inc.
• Inventors: Lee, Hyun Ki, Oh, Hyun Min, Kim, Min Young
• Primary Examiner(s): Rozanski, Michael T
• Application Number:
  US15/503,565
• Publication Number:
  US 20170224425A1
• Time in Patent Office: 1,890 Days
• 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 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 90/39 Markers, e.g. radio-opaque or breast lesions markers

Abstract

A tracking system and a tracking method using the same are disclosed. The tracking system includes a marker, a camera unit, a first inertial measuring unit, a second inertial measuring unit and a tracking processing unit. The marker is fixed on the measurement object, and the camera unit outputs a marker image by photographing the marker. The first inertial measuring unit is fixed on the camera unit, and measures and outputs first inertia comprising first accelerated velocity and first angular velocity. The second inertial measuring unit is fixed to one of the measurement object and the marker, and measures and outputs second inertia comprising second accelerated velocity and second angular velocity. The tracking processing unit primarily extracts the position and the posture of the measurement object using the marker image, and secondarily extracts the position and the posture of the measurement object using the first and second inertias.

Claims

1. A tracking system comprising:

a marker fixed to a measurement object;

a camera configured to photograph the marker and output a marker image;

a first inertia sensor fixed to the camera and configured to measure and output first acceleration and first angular velocity;

a second inertia sensor fixed to one of the measurement object and the marker, and configured to measure and output second acceleration and second angular velocity; and

a processor configured to;

primarily determine a position and a posture of the measurement object by using the marker image,

determine gravitational acceleration from the first acceleration,

determine, from the second acceleration, movement acceleration of the measurement object, by using the gravitational acceleration,

secondarily determine the position of the measurement object by using the movement acceleration and an initial position of the measurement object, and

secondarily determine the posture of the measurement object by using the first angular velocity, the second angular velocity, and an initial tilted angle of the measurement object.

2. The tracking system of claim 1, wherein the processor is further configured to:

convert at least one of the second acceleration and the gravitational acceleration so that coordinate systems of the second acceleration and the gravitational acceleration coincide with each other; and

determine the movement acceleration, by using the second acceleration and the gravitational acceleration having the coincided coordinate systems.

3. A tracking method comprising:

photographing, by a camera, a marker fixed to a measurement object and outputting a marker image;

primarily determining, by a processor, a position and a posture of the measurement object, from the marker image;

measuring and outputting, by a first inertia sensor fixed to the camera, first acceleration and first angular velocity;

measuring and outputting, by a second inertia sensor fixed to one of the measurement object and the marker, second acceleration and second angular velocity;

secondarily determining, by the processor, the position of the measurement object by using the first acceleration, the second acceleration, and an initial position of the measurement object; and

secondarily determining, by the processor, the posture of the measurement object, by using the first angular velocity, the second angular velocity, and an initial tilted angle of the measurement object,

wherein secondarily determining the position of the measurement object by using the first acceleration, the second acceleration and the initial position of the measurement object includes;

determining gravitational acceleration from the first acceleration;

determining movement acceleration of the measurement object from the second acceleration by using the gravitational acceleration; and

determining the position of the measurement object by using the movement acceleration and the initial position of the measurement object.

4. The tracking method of claim 3, wherein determining the movement acceleration comprises:

converting at least one of the second acceleration and the gravitational acceleration so that coordinate systems of the second acceleration and the gravitational acceleration coincide with each other; and

determining the movement acceleration, by using the second acceleration and the gravitational acceleration having the coincided coordinate systems.

5. The tracking method of claim 4, wherein the first inertia sensor has a first inertial coordinate system, the second inertia sensor has a second inertial coordinate system, and

wherein converting the at least one of the second acceleration and the gravitational acceleration so that the coordinate systems of the second acceleration and the gravitational acceleration coincide with each other comprises:

converting the gravitational acceleration according to the first inertial coordinate system into the second inertial coordinate system; and

removing the gravitational acceleration, which has been converted into the second inertial coordinate system, from the second acceleration to thereby determine the movement acceleration.

6. The tracking method of claim 5, wherein the marker has a marker coordinate system, the camera has a camera coordinate system, and

wherein converting the gravitational acceleration according to the first inertial coordinate system into the second inertial coordinate system comprises:

converting the gravitational acceleration according to the first inertial coordinate system into the camera coordinate system;

converting the gravitational acceleration, which has been converted into the camera coordinate system, into the marker coordinate system; and

converting the gravitational acceleration, which has been converted into the marker coordinate system, into the second inertial coordinate system.

7. The tracking method of claim 3, wherein the camera has a camera coordinate system, and

wherein determining the position of the measurement object, by using the movement acceleration and the initial position of the measurement object comprises:

converting the movement acceleration into the camera coordinate system; and

determining the position of the measurement object, by using the movement acceleration converted into the camera coordinate system.

8. The tracking method of claim 3, wherein the first acceleration coincides with the gravitational acceleration, and the first angular velocity is zero (0).