Systems and methods for tracking objects
Surgical navigation systems and methods for tracking an object within an operating room involve a camera unit that houses a first stereoscopic sensing system and a second stereoscopic sensing system each comprising sensing elements adapted to sense light. A controller utilizes the first stereoscopic sensing system to sense light from the object and track the object according to a first resolution. The controller utilizes the second stereoscopic sensing system to sense light from the object and track the object according to a second resolution that is lower than the first resolution. The controller obtains data related to the object from the second stereoscopic sensing system and modifies control of the sensing elements of the first stereoscopic sensing system based on the obtained data related to the object.
1. A surgical navigation system for tracking an object within an operating room, the surgical navigation system comprising:
a camera unit including:
a housing;
a first stereoscopic sensing system coupled to the housing and comprising sensing elements adapted to sense light;
a second stereoscopic sensing system coupled to the housing and comprising sensing elements adapted to sense light; and
a controller in communication with the first and second stereoscopic sensing systems, and wherein the controller is configured to:
utilize the first stereoscopic sensing system to sense light from the object and track the object according to a first resolution;
utilize the second stereoscopic sensing system to sense light from the object and track the object according to a second resolution that is lower than the first resolution;
obtain data related to the object from the second stereoscopic sensing system; and
modify control of the sensing elements of the first stereoscopic sensing system based on the data of the object obtained by the second stereoscopic sensing system.
2. The surgical navigation system of claim 1 , wherein the data related to the object comprises one or more of: a type of the object; a pose of the object; a velocity of the object; an acceleration of the object; and/or an expected movement of the object.
3. The surgical navigation system of claim 1 , wherein the controller is configured to modify control of the sensing elements of the first stereoscopic sensing system to activate a subset of the sensing elements, the subset being less than all of the sensing elements.
4. The surgical navigation system of claim 1 , wherein the controller is configured to modify control of the sensing elements of the first stereoscopic sensing system to prevent processing of a subset of the sensing elements, the subset being less than all of the sensing elements.
5. The surgical navigation system of claim 1 , wherein the controller is configured to modify control of the sensing elements of the first stereoscopic sensing system to adjust a size of a field-of-view viewed by the first stereoscopic sensing system.
6. The surgical navigation system of claim 1 , wherein the controller is configured to modify control of the sensing elements of the first stereoscopic sensing system to define a size and/or position of a region-of-interest viewed by the first stereoscopic sensing system, the region-of-interest being a sub-region within a full field-of-view of the first stereoscopic sensing system.
7. The surgical navigation system of claim 1 , wherein the controller is configured to modify control of the sensing elements of the first stereoscopic sensing system by adjusting a frequency by which the sensing elements are read-out.
8. The surgical navigation system of claim 1 , wherein:
the sensing elements of the first stereoscopic sensing system are adapted to sense light in an infrared spectrum or near-infrared spectrum; and
the sensing elements of the second stereoscopic sensing system are adapted to sense light in a visible light spectrum.
9. The surgical navigation system of claim 1 , wherein:
the first stereoscopic sensing system has a first field-of-view; and
the second stereoscopic sensing system has a second field-of-view that has a size different from a size of the first field-of-view.
10. The surgical navigation system of claim 1 , wherein:
a tracker is coupled to the object and the tracker comprises tracking fiducials; and
the controller is configured to:
utilize the first stereoscopic sensing system to sense light from the tracking fiducials and track the object according to the first resolution; and
utilize the second stereoscopic sensing system to sense light from the object and/or the tracking fiducials and track the object according to the second resolution that is lower than the first resolution.
11. The surgical navigation system of claim 1 , wherein:
the sensing elements of the first stereoscopic sensing system are grouped into sensor units;
the sensing elements of the second stereoscopic sensing system are grouped into sensor units;
the camera unit comprises a rigid support structure disposed within the housing and being configured to rigidly support the sensor units of each of the first and second stereoscopic sensing systems;
the sensor units of the first stereoscopic sensing system are spaced apart from one another on the rigid support structure in a first predefined relationship; and
the sensor units of the second stereoscopic sensing system are spaced apart from one another on the rigid support structure in a second predefined relationship.
12. The surgical navigation system of claim 11 , wherein the housing has an elongated shape defining a first end and an opposing second end, and wherein one of the sensor units of the first stereoscopic sensing system is disposed adjacent to the first end of the housing and the other one of the sensor units of the first stereoscopic sensing system is disposed adjacent to the opposing second end of the housing.
13. A method of operating a surgical navigation system for tracking an object within an operating room, the surgical navigation system comprising a camera unit that houses a first stereoscopic sensing system and a second stereoscopic sensing system, the first and second stereoscopic sensing systems each including sensing elements adapted to sense light, and a controller in communication with the first and second stereoscopic sensing systems, the method comprising the controller performing the following steps:
tracking the object according to a first resolution based on the first stereoscopic sensing system sensing light from the object;
tracking the object according to a second resolution that is lower than the first resolution based on the second stereoscopic sensing system sensing light from the object;
obtaining data related to the object from the second stereoscopic sensing system; and
modifying control of the sensing elements of the first stereoscopic sensing system based on the data of the object obtained by the second stereoscopic sensing system.
14. The method of claim 13 , wherein the data related to the object comprises one or more of: a type of the object; a pose of the object; a velocity of the object; an acceleration of the object; and/or an expected movement of the object.
15. The method of claim 13 , wherein modifying control of the sensing elements of the first stereoscopic sensing system comprises the controller activating a subset of the sensing elements, the subset being less than all of the sensing elements.
16. The method of claim 13 , wherein modifying control of the sensing elements of the first stereoscopic sensing system comprises the controller preventing processing of a subset of the sensing elements, the subset being less than all of the sensing elements.
17. The method of claim 13 , wherein modifying control of the sensing elements of the first stereoscopic sensing system comprises the controller adjusting a size of a field-of-view viewed by the first stereoscopic sensing system.
18. The method of claim 13 , wherein modifying control of the sensing elements of the first stereoscopic sensing system comprises the controller defining a size and/or position of a region-of-interest viewed by the first stereoscopic sensing system, the region-of-interest being a sub-region within a full field-of-view of the first stereoscopic sensing system.
19. The method of claim 13 , wherein modifying control of the sensing elements of the first stereoscopic sensing system comprises the controller adjusting a frequency by which the sensing elements are read-out.
20. A surgical navigation system for tracking an object within an operating room, the surgical navigation system comprising:
a camera unit including:
a housing;
a first stereoscopic sensing system comprising sensor units being rigidly supported by the housing and spaced apart from one another;
a second stereoscopic sensing system comprising sensor units being rigidly supported by the housing and spaced apart from one another; and
a controller in communication with the first and second stereoscopic sensing systems, and wherein the controller is configured to:
utilize the first stereoscopic sensing system to track the object according to a first resolution;
utilize the second stereoscopic sensing system to track the object according to a second resolution that is lower than the first resolution;
obtain data related to the object from the second stereoscopic sensing system; and
modify control of the first stereoscopic sensing system based on the data of the object obtained by the second stereoscopic sensing system.