Systems and methods for tracker characterization and verification
The present application relates to systems and methods used to characterize or verify the accuracy of a tracker comprising optically detectable features. The tracker may be used in spatial localization using an optical sensor. Characterization results in the calculation of a Tracker Definition that includes geometrical characteristics of the tracker. Verification results in an assessment of accuracy of a tracker against an existing Tracker Definition.
1. A system comprising:
a Golden Tracker; and
a computer-readable storage device storing instructions and data, including a Golden Tracker Definition for the Golden Tracker, which, when executed on a computing unit, configure the computing unit to:
receive a first image of a tracker and the Golden Tracker, separated by a fixed spatial relationship, the first image captured by an optical sensor from a first vantage point when both trackers appear in a field of view of the optical sensor;
receive a second image of the tracker and the Golden Tracker, separated by the fixed spatial relationship, the second image captured by the optical sensor from a second vantage point when both trackers appear in the field of view of the optical sensor; and
calculate at least one of:
a Tracker Definition for the tracker using the first image, the second image, an image difference, and the Golden Tracker Definition; and
a Tracker Assessment Parameter for the tracker using the first image, the second image, the image difference, and a Static Tracker Definition.
2. The system of claim 1 wherein the computing unit is further configured to provide the at least one of the Tracker Definition or the Tracker Assessment Parameter which is calculated for use in a localization procedure.
3. The system of claim 1 wherein the computing unit is further configured to provide the Tracker Assessment Parameter when calculated for display on a display unit.
4. The system of claim 3 wherein the system further comprises a display unit to display the Tracker Assessment Parameter.
5. The system of claim 1 wherein the computing unit is further configured to calculate the image difference by calculating a difference in pose of the Golden Tracker between the first image and the second image using the first image, the second image and the Golden Tracker Definition.
6. The system of claim 1 wherein the computing unit is further configured to provide user instructions for display on a display unit.
7. The system of claim 1 wherein the tracker and the Golden Tracker are attached to a respective mounting location on a characterization jig.
8. The system of claim 7 wherein the characterization jig is made entirely of sterilisable material.
9. The system of claim 7 wherein the characterization jig is made entirely of non-sterilisable material.
10. The system of claim 7 further comprising the characterization jig.
11. The system of claim 1 further comprising the optical sensor.
12. The system of claim 1 wherein the fixed spatial relationship is an Inter Tracker Mount Spatial Relationship of a characterization jig comprising mounting locations for the tracker and Golden Tracker, wherein, when the computing unit is configured to calculate the Tracker Definition, the computing unit is further configured to calculate a Tracker Base Geometry using the first image, the second image, the image difference, the Inter Tracker Mount Spatial Relationship, the Golden Tracker Definition and a Golden Tracker Base Geometry.
13. The system of claim 1 wherein the optical sensor is attached to a platform and the tracker and the Golden Tracker are attached to each other.
14. The system of claim 1 wherein, when the computing unit is configured to calculate the Tracker Definition, the computing unit is further configured to calculate a Tracker Base Geometry using the first image, the second image, the image difference, the fixed spatial relationship, the Golden Tracker Definition and a Golden Tracker Base Geometry.
15. The system of claim 14 wherein the tracker and the Golden Tracker are attached to each other.
16. A system for characterizing a tracker for localization in a surgical procedure, the system comprising:
a non-sterile Golden Tracker;
a sterile characterization jig comprising at least two mounting locations and further configured to simultaneously attach the Golden Tracker and a sterile tracker on each mounting location respectively without compromising the sterility of the tracker;
a computer-readable storage device storing instructions and data, including a Golden Tracker Definition for the Golden Tracker, which, when executed on a computing unit, configure the computing unit to:
receive a first image of the tracker and the Golden Tracker captured by an optical sensor from a first vantage point when both trackers appear in a field of view of the optical sensor;
receive a second image of the tracker and the Golden Tracker captured by the optical sensor from a second vantage point when both trackers appear in the field of view of the optical sensor; and
calculate at least one of:
a Tracker Definition for the tracker using the first image, the second image, an image difference, and the Golden Tracker Definition; and
a Tracker Assessment Parameter for the tracker using the first image, the second image, the image difference, the Golden Tracker Definition and a Static Tracker Definition.
17. A computer-implemented method comprising the steps of:
receiving, by a computing unit, a first image of a tracker and a Golden Tracker, separated by a fixed spatial relationship, the first image captured by an optical sensor from a first vantage point when both trackers appear in a field of view of the optical sensor;
receiving, by the computing unit, a second image of a tracker and a Golden Tracker, separated by the fixed spatial relationship, the second image captured by the optical sensor from a second vantage point when both trackers appear in the field of view of the optical sensor; and
calculating, by the computing unit, at least one of:
a Tracker Definition using the first image, the second image, an image difference, and the Golden Tracker Definition; and
a Tracker Assessment Parameter using the first image, the second image, the Golden Tracker Definition and a Static Tracker Definition.
18. The method of claim 17 further comprising calculating, by the computing unit, the image difference by calculating a difference in pose of the Golden Tracker between the first image and the second image using the first image, the second image and the Golden Tracker Definition.
19. The method of claim 17 wherein the fixed spatial relationship is an Inter Tracker Mount Spatial Relationship of a characterization jig comprising mounting locations for the tracker and Golden Tracker, wherein, when the method calculates the Tracker Definition, the method further comprises calculating, by the computing unit, a Tracker Base Geometry using the first image, the second image, the image difference, the Inter Tracker Mount Spatial Relationship, the Golden Tracker Definition and a Golden Tracker Base Geometry.
20. The method of any claim 17 wherein the optical sensor is attached to a platform and the tracker and the Golden Tracker are attached to each other.
21. The method of claim 17 wherein, when the method calculates the Tracker Definition, the method further comprises calculating, by the computing unit, a Tracker Base Geometry using the first image, the second image, the image difference, the fixed spatial relationship, the Golden Tracker Definition and a Golden Tracker Base Geometry.
22. The method of claim 21 wherein the tracker and the Golden Tracker are attached to each other.
23. The method of claim 17 further comprising providing, by the computing unit, at least one of the Tracker Definition or the Tracker Assessment Parameter as calculated for use in a localization procedure.
24. The method of claim 17 further comprising providing, by the computing unit, user instructions for display by a display unit.
25. The method of claim 17 wherein, when the method calculates the Tracker Assessment Parameter, the method further comprises providing, by the computing unit, the Tracker Assessment Parameter for display by a display unit.
26. The method of claim 17 wherein the tracker and the Golden Tracker are attached to a respective mounting location on a characterization jig.
27. A computer-implemented method comprising the steps of
receiving, by a computing unit, an image of a tracker and a Golden Tracker attached to each other from one vantage point when both trackers appear in a field of view of an optical sensor; and
calculating, by the computing unit, a Tracker Assessment Parameter using the image, a Golden Tracker Definition, a Golden Tracker Base Geometry, a Static Tracker Definition and a Static Tracker Base Geometry.