Navigation system and method for tracking objects using optical and non-optical sensors

• US 9,687,307 B2
• Filed: 01/13/2016
• Issued: 06/27/2017
• Est. Priority Date: 09/26/2012
• Status: Active Grant

• Current Assignee: Stryker Corporation
• Original Assignee: Stryker Corporation
• Inventors: Wu, Chunwu
• Primary Examiner(s): Lamprecht, Joel
• Application Number:
  US14/994,236
• Publication Number:
  US 20160120610A1
• Time in Patent Office: 531 Days
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2053 Tracking an applied voltage gradient
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: Y10S 901/47 Optical

Abstract

Systems and methods that utilize optical sensors and non-optical sensors to determine the position and/or orientation of objects. A navigation system includes an optical sensor for receiving optical signals from markers and a non-optical sensor, such as a gyroscope, for generating non-optical data. A navigation computer determines positions and/or orientations of objects based on optical and non-optical data.

Claims

1. A navigation system comprising:

a localizer;

a tracker for communicating with said localizer and including three markers and a non-optical sensor; and

a computing system having at least one processor configured to;

determine positions of each of said markers in a first coordinate system based on optical and non-optical signals,

determine a position of a virtual point in said first coordinate system, and

match said positions of said markers and said virtual point in said first coordinate system with positions of said markers and said virtual point in a model of said tracker established relative to a second coordinate system to obtain a transformation matrix to transform said second coordinate system to said first coordinate system.

2. The navigation system of claim 1, wherein said at least one processor is configured to determine positions of a plurality of said virtual points and match said positions of said markers and said plurality of said virtual points in said model of said tracker to obtain said transformation matrix.

3. The navigation system of claim 2, wherein said plurality of said virtual points comprises a first set of virtual points positioned along each of x, y, and z axes of said second coordinate system.

4. The navigation system of claim 3, wherein said plurality of said virtual points comprises a second set of virtual points positioned along each of said x, y, and z axes of said second coordinate system wherein said second set of virtual points are positioned along said x, y, and z axes on an opposite side of an origin of said second coordinate system from said first set of virtual points.

5. The navigation system of claim 2, wherein said plurality of said virtual points are located radially outwardly from said markers in said model of said tracker.

6. The navigation system of claim 1, wherein said at least one processor is configured to match said positions of said markers and said virtual point in said first coordinate system with positions of said markers and said virtual point in a model of said tracker established relative to said second coordinate system using a rigid body matching algorithm or point matching algorithm.

7. The navigation system of claim 1, wherein said at least one processor is configured to change said position of said virtual point in said model based on movement of said tracker.

8. The navigation system of claim 1, wherein said at least one processor is configured to determine said positions of said markers and said virtual point at a frequency of at least 500 Hz.

9. The navigation system of claim 1, wherein said first coordinate system is further defined as a coordinate system of said localizer and said second coordinate system is further defined as a coordinate system of said tracker.

10. The navigation system of claim 1, wherein said at least one processor is configured to determine a position of a first of said markers at a first time based on a first optical signal from said first marker.

11. The navigation system of claim 10, wherein said at least one processor is configured to determine positions of a second and third of said markers and said virtual point at said first time based on said first optical signal and a non-optical signal from said non-optical sensor.

12. A method of tracking an object using a navigation system comprising alocalizer, a tracker including three markers and a non-optical sensor, and a computing system having at least one processor, said method comprising the steps of:

determining, with the at least one processor, positions of each of the markers in a first coordinate system based on optical and non-optical signals;

determining, with the at least one processor, a position of a virtual point in the first coordinate system; and

matching the positions of the markers and the virtual point in the first coordinate system with positions of the markers and the virtual point in a model of the tracker established relative to a second coordinate system to obtain a transformation matrix to transform the second coordinate system to the first coordinate system.

13. The method of claim 12, including determining positions of a plurality of virtual points and matching the positions of the markers and the plurality of virtual points in the model of the tracker to obtain the transformation matrix.

14. The method of claim 13, including positioning the plurality of virtual points along each of x, y, and z axes of the second coordinate system.

15. The method of claim 14, including positioning the plurality of virtual points radially outwardly from the markers in the model of the tracker.

16. The method claim 12, including changing the position of the virtual point in the model based on movement of the tracker.

17. The method of claim 12, including determining a position of a first of the markers at a first time based on a first optical signal from the first marker.

18. The method of claim 17, including determining positions of a second and third of the markers and the virtual point at the first time based on the first optical signal and a non-optical signal from the non-optical sensor.