Fiducial marker design and detection for locating surgical instrument in images
First Claim
Patent Images
1. A method implemented by a processor, the method comprising:
- receiving, at the processor, information of an image of a surgical tool that was captured by an image capture device, wherein the surgical tool has a first marker that includes a first identification feature which includes a first plurality of dots, the first plurality of dots arranged in a first pattern of dots which indicates values of first data bits and a value or values of at least one first error checking bit, wherein a value of a corresponding one of the first data bits and the at least one first error checking bit is determined by a presence or absence of a dot in each location of a predefined pattern of possible dot locations, wherein the values of the first data bits indicate an identity of the first marker, and wherein the value or values of the at least one first error checking bit indicates one of an informational redundancy and a correctness of the first data bits;
determining, by using the processor, a position and orientation for the first marker by processing the received image;
determining, by using the processor, the identity of the first marker by comparing the first pattern of dots against a plurality of patterns of dots, wherein each of the plurality of patterns of dots identifies a unique marker by depicting a different combination of the presence and absence of dots in the predefined pattern of possible dot locations than all others of the plurality of patterns of dots;
validating, by using the processor, the determined identity of the first marker by using the value or values of the at least one first error checking bit;
determining, by using the processor, a tool state for the surgical tool by using the determined position and orientation for the first marker and the determined identity of the first marker after being validated; and
commanding, by using the processor, a robotic mechanism to move the surgical tool in response to input from a control device by using the determined tool state for the surgical tool.
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Abstract
The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located reference features. A method includes: capturing a first image of a tool that includes multiple features that define a first marker, where at least one of the features of the first marker includes an identification feature; determining a position for the first marker by processing the first image; determining an identification for the first marker by using the at least one identification feature by processing the first image; and determining a tool state for the tool by using the position and the identification of the first marker.
227 Citations
24 Claims
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1. A method implemented by a processor, the method comprising:
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receiving, at the processor, information of an image of a surgical tool that was captured by an image capture device, wherein the surgical tool has a first marker that includes a first identification feature which includes a first plurality of dots, the first plurality of dots arranged in a first pattern of dots which indicates values of first data bits and a value or values of at least one first error checking bit, wherein a value of a corresponding one of the first data bits and the at least one first error checking bit is determined by a presence or absence of a dot in each location of a predefined pattern of possible dot locations, wherein the values of the first data bits indicate an identity of the first marker, and wherein the value or values of the at least one first error checking bit indicates one of an informational redundancy and a correctness of the first data bits; determining, by using the processor, a position and orientation for the first marker by processing the received image; determining, by using the processor, the identity of the first marker by comparing the first pattern of dots against a plurality of patterns of dots, wherein each of the plurality of patterns of dots identifies a unique marker by depicting a different combination of the presence and absence of dots in the predefined pattern of possible dot locations than all others of the plurality of patterns of dots; validating, by using the processor, the determined identity of the first marker by using the value or values of the at least one first error checking bit; determining, by using the processor, a tool state for the surgical tool by using the determined position and orientation for the first marker and the determined identity of the first marker after being validated; and commanding, by using the processor, a robotic mechanism to move the surgical tool in response to input from a control device by using the determined tool state for the surgical tool. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A medical system, comprising:
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a surgical tool having a first marker that includes a first identification feature that includes a first plurality of dots, the first plurality of dots arranged in a first pattern of dots which indicates values of first data bits and a value or values of at least one first error checking bit, wherein a value of a corresponding one of the first data bits and the at least one first error checking bit is determined by a presence or absence of a dot in each location of a predefined pattern of possible dot locations, wherein the values of the first data bits indicate an identity of the first marker, and wherein the value or values of the at least one first error checking bit indicates one of an informational redundancy and a correctness of the first data bits; a robotic mechanism coupled to the surgical tool; a control device; an imaging device for capturing an image of the first marker on said surgical tool; and a processor programmed to process said captured image so as to;
determine positional and orientational data for the first marker, determine the identity of the first marker by comparing the first pattern of dots against a plurality of patterns of dots, wherein each of the plurality of patterns of dots identifies a unique marker by depicting a different combination of the presence and absence of dots in the predefined pattern of possible dot locations than all others of the plurality of patterns of dots, validate the determined identity of the first marker by using the value or values of the at least one first error checking bit, determine a tool state for the surgical tool by using the determined first marker positional and orientational data and the determined identity of the first marker after being validated, and command the robotic mechanism to move the surgical tool in response to input from the control device by using the determined tool state for the surgical tool. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification