Reconfigurable transmitter array for electromagnetic tracking systems
A magnetic tracking system is configured to determine an object pose of a tracked object in an environment of the magnetic tracking system. The tracking system includes a transmitter assembly that includes a transmitting coil configured to generate a magnetic signal indicative of an object pose of a tracked object with respect to the transmitter assembly and a marker that visually identifies a pose of the transmitter assembly with respect to a camera device. The camera device captures at least one image of the transmitter assembly. A computing device determines, based on the image, a pose for the transmitter assemblies in the image. Based on the magnetic signal and the pose associated with the transmitter assembly, the computing device determines the object pose of the tracked object in the environment.
1 . A transmitter assembly for generating a magnetic signal, comprising:
a transmitting coil configured to generate a magnetic signal in response to receiving an electric current;
a first surface comprising a set of icons, an icon of the set being separated from another icon of the set by a known distance, the set of icons configured to identify a pose of the transmitter assembly with respect to a camera device and distinguish the transmitter assembly from one or more other transmitter assembly; and
a second surface configured to removably affix to another object.
2 . The transmitter assembly of claim 1 , further comprising:
a memory configured to store calibration data related to the transmitter assembly;
a processing device configured to control transmission of the magnetic signal from the transmitter assembly;
a communication interface for sending and receiving data to a remote device; and
a power source configured to provide electric power for the memory, the processing device, and the communication interface.
3 . The transmitter assembly of claim 2 , wherein the communication interface is configured to wirelessly communicate with the remote device.
4 . The transmitter assembly of claim 2 , wherein the power source is rechargeable.
5 . The transmitter assembly of claim 2 , wherein the first surface comprises one of an ArUco pattern, a ChArUco pattern, an infrared retroreflector, a light source, an ultrasonic source, a radio signal source, and an outer shape of the transmitter assembly.
6 . The transmitter assembly of claim 1 , wherein the marker set of icons comprises three distinct icons.
7 . The transmitter assembly of claim 1 , wherein the outer shape of the transmitter assembly is uniquely identifying of the transmitting assembly.
8 . The transmitter assembly of claim 1 , wherein the first surface comprises an infrared retroreflector.
9 . The transmitter assembly of claim 1 , wherein the adhesive layer comprises suction cups.
10 . The transmitter assembly of claim 1 , wherein the set of distinct icons comprises at least three distinct icons, the at least three distinct icons being spaced apart wherein there is a first known distance between a first distinct icon and a second distinct icon of the at least three distinct icons, and wherein a second known distance between the second distinct icon and a third distinct icon of the at least three distinct icons.
11 . The transmitter assembly of claim 10 , wherein each of the first distinct icon, the second distinct icon, and the third distinct icon comprises a QR code, each having a different design from one another.
12 . The transmitter assembly of claim 1 , further comprising an adhesive layer that is configured to adhere the transmitter assembly to a patient's skin.
13 . The transmitter assembly of claim 1 , wherein the transmitter assembly is connectable to one or more other transmitter assemblies in a daisy-chain formation.
14 . The transmitter assembly of claim 1 , further comprising a glue.
15 . The transmitter assembly of claim 1 , further comprising an adhesive gel.
16 . A system comprising:
a first transmitter assembly comprising:
a transmitting coil configured to generate a first magnetic signal in response to receiving an electric current;
a first surface comprising a set of icons, an icon of the set being separated from another icon of the set by a known distance, the set of icons configured to identify a pose of the first transmitter assembly with respect to a camera device and distinguish the transmitter assembly from one or more other transmitter assembly; and
a second surface comprising an adhesive layer configured to removably affix to another object; and
a second transmitter assembly comprising:
a transmitting coil configured to generate a second magnetic signal in response to receiving an electric current;
a first surface comprising an icon of the set being separated from another icon of the set by a known distance, the set of icons configured to identify a pose of the second transmitter assembly with respect to a camera device and distinguish the transmitter assembly from the first transmitter assembly; and
a second surface configured to removably affix to another object.
17 . The system of claim 16 , wherein the first transmitter assembly and the second transmitter assembly can be removed and rearranged with respect to one another in an environment.
18 . The system of claim 16 , further comprising a receiver configured to receive the first magnetic signal from the first transmitter assembly and the second magnetic signal from the second transmitter assembly, wherein a computing device in communication with the receiver is configured to determine a location of a tracked object based on the first magnetic signal, the second magnetic signal, the pose of the first transmitter assembly, and the pose of the second transmitter assembly.
19 . The system of claim 16 , further comprising a camera configured to detect the pose of the first transmitter assembly and the pose of the second transmitter assembly.