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 computer implemented method comprising the steps of:
receiving, by a computing unit, and from an optical sensor, a set of images of a tracker, the set of images showing a plurality of optical features of the tracker from a variety of vantage points; and
calculating, by the computing unit, at least one of: a tracker definition and a tracker assessment parameter;
wherein the calculating comprises, for each same feature of the plurality of optical features, creating a respective location correspondence for the same feature in each of the set of images.
2. The method of claim 1 wherein calculating comprises performing an optimization for each respective location correspondence.
3. The method of claim 1 , wherein the tracker assessment parameter is calculated using a static tracker definition.
4. The method of claim 1 further comprising providing, by the computing unit, at least one of the tracker definition and the tracker assessment parameter as calculated for use in a localization procedure.
5. The method of claim 1 wherein the set of images comprises a first set of articulation images of the tracker when attached to a first tracker mounting location and a second set of articulation images of the tracker when attached to a second tracker mounting location.
6. The method of claim 5 wherein:
the first tracker mounting location and the second tracker mounting location are respective tracker mounting locations on a characterization jig;
the characterization jig comprises a base, the respective tracker mounting locations and a pivot leg, the pivot leg having a first end that attaches the pivot leg to the characterization jig and a second end that has a pivot point;
the first set of articulation images are generated as the characterization jig is pivoted about the pivot point while the pivot point is mated with a first mating member of a surface; and
the second set of articulation images are generated as the characterization jig is pivoted about the pivot point while the pivot point is mated with a second mating member of the surface.
7. The method of claim 6 wherein the optical sensor is separately coupled to the surface independently of the characterization jig.
8. The method of claim 6 wherein each of the first set of articulation images and the second set of articulation images comprise at least four distinct images of optically detectable features of the tracker.
9. The method of claim 6 wherein the step of calculating uses a known, fixed spatial relationship between the first tracker mounting location and the second tracker mounting location.
10. The method of claim 6 wherein the characterization jig comprises an identifier to identify a spatial relationship between the first tracker mounting location and the second tracker mounting location of the characterization jig for use to perform the calculating.
11. The method of claim 10 comprising receiving the identifier, by the computing unit via the optical sensor.
12. A system comprising:
a computer-readable storage device storing instructions and/or data which, when executed on a computing unit, configures the computing unit to:
receive, from an optical sensor, a set of images of a tracker, the set of images showing a plurality of optical features of the tracker from a variety of vantage points; and
calculate at least one of: a tracker definition and a tracker assessment parameter; and
providing at least one of the tracker definition and the tracker assessment parameter as calculated for use in a localization procedure; and
wherein to calculate comprises, for each same feature of the plurality of optical features, creating a respective location correspondence for the same feature in each of the set of images.
13. The system of claim 12 wherein to calculate comprises performing an optimization for each respective location correspondence.
14. The system of claim 12 , wherein the tracker assessment parameter is calculated using a static tracker definition.
15. The system of claim 12 wherein the set of images comprises a first set of articulation images of the tracker when attached to a first tracker mounting location and a second set of articulation images of the tracker when attached to a second tracker mounting location.
16. The system of claim 15 comprising a characterization jig, the jig comprising a base, respective tracker mounting locations and a pivot leg, the pivot leg having a first end that attaches the pivot leg to the characterization jig and a second end that has a pivot point; and
wherein:
the first tracker mounting location and the second tracker mounting location comprise respective tracker mounting locations on the characterization jig;
the first set of articulation images are generated as the characterization jig is pivoted about the pivot point while the pivot point is mated with a first mating member of a surface; and
the second set of articulation images are generated as the characterization jig is pivoted about the pivot point while the pivot point is mated with a second mating member of the surface.
17. The system of claim 16 wherein the optical sensor is separately coupled to the surface independently of the characterization jig.
18. The system of claim 16 wherein each of the first set of articulation images and the second set of articulation images comprise at least four distinct images of optically detectable features of the tracker.
19. The system of claim 16 wherein the step of calculating uses a known, fixed spatial relationship between the first tracker mounting location and the second tracker mounting location.
20. The system of claim 16 wherein the pivot leg and at least one of the first mating member and the second mating member may further comprise a magnetic component to allow a magnetic connection therebetween.
21. The system of claim 16 wherein the first mating member and second mating member are coincident on the surface.
22. The system of claim 16 wherein the surface comprises a sterilization tray surface of a sterilization tray containing medical instruments for use in a surgical procedure.
23. The system of claim 16 wherein the first end of the pivot leg comprises a hinge joint movable in one degree of freedom and coupled to a bottom side of the characterization jig, the bottom side forming a slot to accommodate a length of the pivot leg.
24. The system of claim 12 further comprising any of the tracker, the optical sensor; the computing unit and a display unit.