Inertially tracked objects

• US 9,539,060 B2
• Filed: 01/04/2016
• Issued: 01/10/2017
• Est. Priority Date: 06/23/2010
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Lightcap, Chris, Kang, Hyosig
• Primary Examiner(s): RIVERA VARGAS, MANUEL A
• Application Number:
  US14/987,150
• Publication Number:
  US 20160113730A1
• Time in Patent Office: 372 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/207 Divots for calibration
• 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: G01C 21/166 Mechanical, construction or arrangement details of inertial navigation systems

Abstract

Described are computer-based methods and apparatuses, including computer program products, for inertially tracked objects with a kinematic coupling. A tracked pose of a first inertial measurement unit (IMU) is determined, wherein the first IMU is mounted to a first object. The tracked pose of the first IMU is reset while the first object is in a first reproducible reference pose with a second object.

Claims

1. A method of initializing or resetting a tracking element, comprising:

initializing or resetting, by an inertial tracking system, an initial pose of a first inertial measurement unit (IMU) while the first IMU is temporarily mechanically coupled to a first portion of a linkage arm in a first reproducible reference pose, wherein the initial pose of the first IMU is known and achieved when the first IMU is coupled to the linkage arm in the first reproducible reference pose;

determining, by the inertial tracking system, a tracked pose of the first IMU, wherein the first IMU is mounted to a first object; and

resetting the initial pose of the first IMU, thereby eliminating drift caused over time between the tracked pose and the actual pose of the first IMU, when the first IMU is returned to the first reproducible reference pose.

2. The method of claim 1, further comprising:

initializing or resetting, by the inertial tracking system, an initial pose of a second IMU while the second IMU is temporarily mechanically coupled to a second portion of the linkage arm in a second reproducible reference pose, wherein the initial pose of the second IMU is known and achieved when the second IMU is coupled to the linkage arm in the second reproducible reference pose;

determining, by the inertial tracking system, a tracked pose of the second IMU relative to the first IMU wherein the second IMU is mounted to a second object; and

resetting the initial pose of the second IMU, thereby eliminating drift caused over time between the tracked pose and the actual pose of the second IMU, when the second IMU is returned to the second reproducible reference pose.

3. The method of claim 2, wherein the second IMU comprises a third kinematic coupling, and the second portion of the linkage arm comprises a fourth kinematic coupling.

4. The method of claim 3, wherein the third kinematic coupling is configured to kinematically couple to the fourth kinematic coupling to achieve the second reference pose, and further comprising:

initializing or resetting the tracked pose of the second IMU occurs when the fourth kinematic coupling is kinematically coupled to the third kinematic coupling.

5. The method of claim 2, further comprising:

determining, by the inertial tracking system, that an error associated with the first IMU, the second IMU, or both, exceeds a predetermined threshold; and

initializing or resetting the tracked pose of the first IMU, the tracked pose of the second IMU, or both, based on the reference pose.

6. The method of claim 2, wherein the step of initializing or resetting, by the inertial tracking system, the initial pose of the first IMU, the second IMU, or both is automatically initiated by detecting when the first IMU is coupled to the linkage arm in the first reference pose, the second IMU is coupled to the linkage arm in the second reference pose, respectively, or both.

7. The method of claim 2, further comprising:

calculating a transform between the first IMU and the first object; and

calculating a transform between the second IMU and the second object.

8. The method of claim 2, further comprising:

using the tracked poses to track the first object coupled to the first IMU and the second object coupled to the second IMU as the first and second objects are moved independently.

9. The method of claim 1, wherein the linkage arm comprises a plurality of links and a plurality of joints between the links, and wherein each of the plurality of joints comprises a position sensor to track a pose of the linkage arm.

10. The method of claim 9, further comprising determining, using data from the position sensors, a pose of the first portion of the linkage arm relative to the second portion of the linkage arm.

11. The method of claim 9, wherein the position sensor is a joint encoder.

12. The method of claim 1, wherein the first IMU comprises a first kinematic coupling and the first portion of the linkage arm comprises a second kinematic coupling.

13. The method of claim 12, wherein the first kinematic coupling is configured to kinematically couple to the second kinematic coupling to achieve the first reference pose, and further comprising:

initializing or resetting the tracked pose of the first IMU occurs when the second kinematic coupling is kinematically coupled to the first kinematic coupling.

14. The method of claim 1, wherein a second portion of the linkage arm is coupled to a stationary object.

15. A method of initializing or resetting a tracking element, comprising:

coupling a linkage arm with a first IMU and a second IMU in a reproducible reference pose, wherein the actual pose of the first IMU and the second IMU are known when in the reproducible reference pose;

setting an initial tracked pose of the first IMU and the second IMU when the linkage arm and the IMUs are in the reproducible reference pose, such that the tracked poses of the IMUs correspond with the actual poses;

tracking the first IMU and the second IMU based on the initial tracked poses; and

returning the first IMU and the second IMU to the reproducible reference pose with the linkage arm to eliminate draft occurring between the actual poses and the tracked poses since the previous setting of the initial tracked pose in the reproducible reference pose.

16. The method of claim 15, wherein the linkage arm comprises a plurality of links and a plurality of joints between the links, and wherein each of the plurality of joints comprises a position sensor to track a pose of the linkage arm.

17. The method of claim 16, further comprising determining, using data from the position sensors, a pose of the first portion of the linkage arm relative to the second portion of the linkage arm.

18. The method of claim 16, wherein the position sensor is a joint encoder.

19. The method of claim 15, wherein the first IMU comprises a first repeatable coupling mechanism and wherein the second IMU comprises a second repeatable coupling mechanism;

wherein the first repeatable coupling mechanism and the second repeatable coupling mechanism are configured to engage with respective first and second repeatable coupling mechanisms on the linkage arm; and

wherein coupling a linkage arm with a first IMU and a second IMU in a reproducible reference pose comprises engaging the first and second repeatable coupling mechanisms with the repeatable coupling mechanisms on the linkage arm.

20. A computer program product, tangibly embodied in a computer readable storage medium, the computer program product including instructions being operable to cause a data processing apparatus to:

initialize or reset, by an inertial tracking system, an initial pose of a first inertial measurement unit (IMU) and a second IMU while the first and second IMUs are temporarily mechanically coupled together by a linkage arm in a reproducible reference pose, wherein the initial poses of the first IMU and second IMU are known and achieved when the IMUs are coupled together by the linkage arm in the reproducible reference pose;

determine, by an inertial tracking system, a tracked pose of the first inertial measurement unit (IMU), wherein the first IMU is mounted to a first object;

determine, by an inertial tracking system, a tracked pose of the second (IMU) relative to the first IMU wherein the second IMU is mounted to a second object; and

reset the initial pose of the first IMU and the second IMU, thereby eliminating drift caused over time between the tracked pose and the actual pose of the first IMU and second IMU, when the linkage arm is returned to the reproducible reference pose with the first IMU and the second IMU.