摘要:
The present invention involves a vectorized multi-material fiducial reference for use in tracking on a user-calibration free basis a non-visible scan-detectable structure of a body as part of a three-dimensional tracking system. The fiducial consists of scan-detectable elements embedded within the body of the fiducial, the body being formed of a material compatible with the tracked body. The scan-detectable elements are embedded in a rotationally asymmetric pattern in the fiducial with to an accuracy compatible with surgery. A vectorized tracking marker may be attached directly or indirectly to the fiducial. The system employs a controller in communication with a non-stereo optical tracker to track in real time the marker and thereby the fiducial based on a prior scan of the surgical site with the fiducial attached. A method for manufacturing the fiducial employs pins to hold the scan-detectable elements accurately in position while forming the body of the fiducial around the elements.
摘要:
A monitoring system tracks the non-visible structure of a body in three dimensions. A tracker obtains image information of the object and instruments in its vicinity, all bearing 3D tracking markers with at least one pattern segment. A controller spatially relates image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan a fiducial reference detectable in the scan is removably attached to a location on the object. Scan data and image information is used by the controller to provide the user with real time information on relative 3D locations and orientations of instruments and the non-visible structure of the body. The monitoring system may be used to model and track changes in the body itself. A model of the body and instruments is used to track contemplated actions and warn about possibly inappropriate instrument procedures.
摘要:
A videographic system uses a videographic camera to obtain a temporal series of digital images of a scene and substitutes the video appearance of display boards in the scene with sub-images from a database. 3D vectorized tracking markers disposed rigidly with respect to the display boards enable a controller to geometrically adapt the sub-images for changing perspectives of the videographic camera. The markers may have a rotationally asymmetric pattern of contrasting portions with perimeters that have sections that are mathematically describable curves. The markers may be monolithically integrated with the display boards. The adapted images may be supplied to an interactive display system, along with pixel coordinate information about the sub-images and resource location identifiers associated with the sub-images. This allows linking to a networked resource by selecting the sub-image with a digital pointing and selecting device. The system may be configured to replace televised advertising board information with geometrically adapted user-targeted advertisements.
摘要:
A surgical hardware and software monitoring system and method allows for surgical planning while the patient is available for surgery, for example while the patient is being prepared for surgery so that the system may model the surgical site. Tracker obtains image information, with controller configured to spatially relate image information with previously obtained scan data. Fiducial reference is configured for removably attaching to a location proximate a surgical site. The fiducial reference is observable by the tracker so that software of the controller determines three-dimensional location and orientation based on scan data and image data of the surgical site, spatially relating the image information to the scan data to determine the three-dimensional location and the orientation of the fiducial reference. In one embodiment, the model may be used to track contemplated surgical procedures and warn the physician regarding possible boundary violations that would indicate an inappropriate location in a surgical procedure. In another embodiment, the monitoring system may track the movement of instruments during the procedure and in reference to the model to enhance observation of the procedure. In a further embodiment the monitoring system can be used to model and track the changes in the surgical site itself.
摘要:
The present invention relates to a tool system comprising a handheld implement having a passive vectorized tracking marker permanently integrated with the implement at a predetermined location on the implement in a predetermined orientation with respect to the implement; and a database comprising geometric information describing the at least one of a rotationally asymmetric shape of the tracking marker and a rotationally asymmetric pattern disposed on the tracking marker. The system may further comprise: a tracker configured for obtaining image information about the tracking marker when the tracking marker is in a field of view of the tracker; and a controller having a processor and memory, the controller in communication with the database and the tracker, the processor programmable for receiving and processing image information from the tracker; accessing the database to retrieve the geometric information; and comparing the image information with the geometric information. The handheld implement may be three-dimensionally tracked by the tracker.
摘要:
A monitoring system tracks the non-visible structure of a body in three dimensions. A tracker obtains image information of the object and instruments in its vicinity, all bearing 3D tracking markers. A controller spatially relates image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan a fiducial reference detectable in the scan is removably attached to a location on the object. The scan data and image information is used by the controller to provide the user with real time information on the relative 3D locations and orientations of instruments and non-visible structure of the body. In a further embodiment the monitoring system may be used to model and track changes in the body itself. In other embodiments, a model of the body and instruments is used to track contemplated actions and warn about possibly inappropriate instrument procedures.
摘要:
A three-dimensional position and orientation tracking system comprises one or more pattern tags, each comprising a plurality of contrasting portions, a tracker for obtaining image information about the pattern tags, a database with geometric information describing patterns on pattern tags; and a controller for receiving and processing the image information from the tracker, accessing the database to retrieve geometric information, and comparing the image information with the geometric information. The contrasting portions are arranged in a rotationally asymmetric pattern and at least one of the contrasting portions on a pattern tag has a perimeter that has a mathematically describable curved section. The pattern tags may be borne on tracking markers that have a three-dimensional shaped surface. The tracking system can be implemented in a surgical monitoring system in which the pattern tags are attached to tracking markers or are themselves tracking markers. A method associated with the system employs the rotationally asymmetric patterns on the tags to determine the three-dimensional locations and orientations of items bearing the tags using non-stereo image information.
摘要:
A system and method for automatically focusing imaging devices on an imaging set employs at least one tracker and two or more tracking markers, each tracking marker having an identification means and a tracking pattern. The tracking markers are configured for attaching to the imaging devices and to corresponding subjects to be imaged. A tracker gathers image information of the imaging set and provides it to a controller, which compares the image information to predetermined stored information about the tracking patterns of the various tracking markers. The tracking markers are identified and their three-dimensional positions determined. The distances between the imaging devices and the subjects are determined and the distances between the imaging devices and the subjects are calculated. This provides the focus setting information for communication to the imaging devices. The tracking patterns may have no rotational symmetry, allowing the orientation of subjects to be determined.
摘要:
A monitoring system tracks the non-visible structure of a body in three dimensions. A tracker obtains image information of the object and instruments in its vicinity, all bearing 3D tracking markers. A controller spatially relates the image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan a fiducial reference detectable in the scan is removably attached to a location on the object. The scan data and image information is used by the controller to provide the user with real time information on the relative 3D locations and orientations of the instruments and the non-visible structure of the body. In a further embodiment the monitoring system may be used to model and track the changes in the body itself. In other embodiments, a model of the body and instruments is used to track contemplated actions and warn about possibly inappropriate instrument procedures.
摘要:
The present invention involves a surgical site monitoring system and associated method of use employing vectorized 3D-tracking markers attached to a single vectorized fiducial reference and to a surgical site imaging sensor. A tracker obtains image information about both tracking markers and uses either the markings on or shapes of the tracking markers to determine from the image information the 3D locations and orientations of the imaging sensor and of the fiducial reference fixed to the surgical site. A scan taken of the surgical site prior to a surgical procedure with the fiducial reference attached allows live images of the surgery site to be sourced from the imaging sensor and to be overlaid in real time on a 3D model of the surgical site.