REFERENCE MARKER AND USE IN A MOTION TRACKING SYSTEM

• US 20070239169A1
• Filed: 03/16/2007
• Published: 10/11/2007
• Est. Priority Date: 03/17/2006
• Status: Abandoned Application

• Current Assignee: Perception Raisonnement Action en Medecine
• Original Assignee: Perception Raisonnement Action en Medecine
• Inventors: Plaskos, Christopher, Lavallee, Stephane
• Application Number:
  US11/687,324
• Publication Number:
  US 20070239169A1
• Time in Patent Office: Days
• US Class Current: 606/96
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/3937 Visible markers
• 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

The present invention is directed to reference markers that are used in position measuring device that can be part of a computer assisted surgery (CAOS) system. The reference marker is constructed of a rigid body that has 360 degrees of visibility.

Claims

1. A reference marker for use in a motion tracking system comprising:

a reference body being formed of a plurality of elongated bar members that are arranged according to a predetermined pattern, each bar being reflective to light, the plurality of bar members defining distinct reference faces that are arranged such that the reference marker has 360 degrees of visibility since at least one reference face is always in view and is visible to the motion tracking system.

2. The reference marker of claim 1, wherein the reference body has a pyramid shape that is defined by a triangular base and three triangular sides, each reference face being a triangular face that is defined by three bar members.

3. The reference marker of claim 1, wherein each bar member is a cylindrically shaped bar.

4. The reference marker of claim 1, further including:

a support coupled at one end to the reference body; and

a base that engages the support for attaching the reference body to a target object.

5. The reference marker of claim 4, wherein the support is an elongated bar member that has a curve formed along a length thereof.

6. The reference marker of claim 5, wherein the elongated bar member of the support has a cylindrical shape and is reflective to light.

7. The reference marker of claim 5, wherein the bar member of the support is curved between 45 degrees and 90 degrees.

8. The reference marker of claim 4, wherein the base is a low profile base that is attached to the target object that includes reproducible connection means that permits the reference body to be releasably, yet securely attached to the base.

9. The reference marker of claim 8, wherein the connection means comprises a dove tail joint with an axial stop.

10. The reference marker of claim 8, wherein the connection means comprises a quick release connector in the form of a snap-fit type connector that permits the reference body to be snap fittingly attached to the base.

11. A rigid body with 360 degrees of visibility comprising:

four reflective spheres arranged in a pyramid formation such that four distinct reference planes are defined, each reference plane being defined by three spheres; and

disc shaped dividers arranged to prevent spheres from behind from overlapping the spheres in the front when the spheres from behind are in line with the line of sight of a detector.

12. The rigid body of claim 11, wherein the detector comprises a camera.

13. The rigid body of claim 11, wherein the reference plane has a triangular shape.

14. The rigid body of claim 11, wherein the four spheres are attached to a pyramid shaped reference body and the disc shaped dividers are attached to the pyramid shaped reference body at locations between two spheres.

15. The rigid body of claim 11, wherein each of the spheres is positioned at a distal end of an elongated strut that extends from a reference body that has an amorphous shape, the dividers being integrally formed with the reference body as a single structure.

16. The rigid body of claim 15, wherein the strut comprises a post.

17. A motion tracking system comprising:

a position measuring device for detecting the position and orientation of an object by tracking the relative movement of a reference marker attached to the object;

a computer that is configured to determine and track positions of the reference marker;

wherein the reference marker is constructed so that it includes four distinct reference faces that are arranged such that the reference marker has 360 degrees of visibility since at least one reference face is always in view and is visible to the position measuring device.

18. The system of claim 17, wherein the object is selected from the group consisting of a bone, a tool and a pointer.

19. The system of claim 17, wherein the position measuring device comprises an optical tracking system and the reference marker is reflective to light.

20. The system of claim 17, wherein the reference marker includes a reference body formed of a plurality of elongated bar members that are arranged according to a predetermined pattern, each bar being reflective to light, the plurality of bar members defining the four distinct reference faces that are arranged such that the reference markers has 360 degrees of visibility.

21. The system of claim 20, wherein the reference body has a pyramid shape that is defined by a triangular base and three triangular sides, each reference face being a triangular face that is defined by three bar members.

22. The system of claim 20, wherein the position measuring device comprises an optical tracking system including at least one camera and the bars are identified as lines in 2D camera images.

23. The system of claim 17, wherein the computer is configured such that once one of the reference faces is visible more than a predefined number of degrees from a line of sight of the position measuring device, the device ignores any other visible reference faces which are near the limits of visibility or are partially occluded and less accurate.

24. The system of claim 17, wherein the reference marker comprises a rigid body having a pyramid shape with four reflective spheres arranged in pyramid formation such that the four spheres defines four distinct faces, each face being defined by three spheres.

25. The system of claim 24, wherein the reference marker includes disc-shaped dividers arranged to prevent spheres from behind from overlapping the spheres in the front when the spheres from behind are in line with the line of sight of the position measuring device.

26. The system of claim 24, wherein the computer is configured such that when one reflective sphere is not visible to the position measuring device, the measuring device is capable of detecting the other three reflective spheres even if the three other reflective spheres do not represent the reference face that is most aligned with the line of sight of the position measuring device.

27. The system of claim 25, wherein the dividers are constructed and arranged so that when the rigid body is rotated, one divider prevents the representation of two of the spheres from overlapping in an image acquired by a camera of the position measuring device, thereby keeping the image of one sphere from becoming non-spherical.

28. The system of claim 17, wherein the reference marker includes a main support coupled at one end to the reference marker and a base that engages the support for attaching the reference marker to the object.

29. The system of claim 28, wherein the main support is an elongated bar member that has a curve formed along a length thereof.

30. The system of claim 29, wherein the elongated bar member of the main support has a cylindrical shape and is reflective to light.

31. The system of claim 30, wherein the bar member of the main support is curved between 45 degrees and 90 degrees.

32. The system of claim 28, wherein the base is a low profile base that is attached to the target object that includes reproducible connection means that permits the reference marker to be releasably, yet securely attached to the base.

33. The system of claim 24, wherein when the reference marker is in a position where all four spheres are visible to the position measuring device, the computer is configured to average information obtained from the positions of the four spheres to produce an optimal reference frame, each reference face being seen as a reference frame detected by the position measuring device.

34. The system of claim 20, wherein if one bar member is occluded due to the orientation of the reference marker with respect to the position measuring device, the reference face defined by the one bar member has a lower weighting than one or more reference faces that are more visible to the position measuring device.