SURGICAL NAVIGATION SYSTEM DEALING WITH PARTIALLY-OBSCURED MARKERS

    公开(公告)号:EP4406503A1

    公开(公告)日:2024-07-31

    申请号:EP23315014.3

    申请日:2023-01-27

    申请人: Ecential Robotics

    IPC分类号: A61B34/20 A61B34/30

    摘要: A surgical navigation system, comprising:
    - a surgical tool (1), having a reference zone (Zref);
    - an optical tracker (T), arranged to track a pose of the surgical tool (1), and having fiducial markers (M1-M8);
    - a stereoscopic camera (2), arranged to capture images (20) of Ntot fiducial markers (M1-M8), where Ntot is an integer superior or equal to 4;
    - a data processor (DP), configured to perform steps:
    a) identify the Ntot fiducial markers (M1-M8) and determine the positions of the Ntot fiducial markers (M1-M8), from the images (20) captured by the stereoscopic camera (2);
    b) generate a set of patterns (P1-P3), each pattern (P1-P3) having M fiducial markers, where M is an integer superior or equal to 3 and strictly inferior to Ntot; the set of patterns (P1-P3) including N fiducial markers (M1-M8), where N is an integer inferior or equal to Ntot;
    c) for each pattern (P1-P3) of the set generated in step b):
    - extract the positions of the corresponding M fiducial markers (M1-M8) thereof from step a);
    - compute a pose of the reference zone (Zref), in a reference coordinate system, from the extracted positions of the corresponding M fiducial markers (M1-M8);

    d) apply a criterion to compare the poses of the reference zone (Zref) computed in step c) therebetween for the set of patterns (P1-P3), the criterion being designed to detect a presence of at least one partially-obscured fiducial marker (Mpo) within the N fiducial markers (M1-M8).