Systems and methods for registering and tracking anatomical structures
An instrument registers and tracks a portion of a patient's anatomy by an Augmented Reality (AR) device worn by a surgeon during a surgical procedure. The instrument may be attached to the patient's anatomy. The instrument may be a tripod with a platform. A target plate having front and back faces may be securely attached to the platform. A two-dimensional (2D) code detectable by the AR device may be presented on the front and back faces of the target plate. The 2D code may define a coordinate system having a known relationship to a coordinate system for the patient's anatomy, e.g., through a transformation matrix. The AR device may utilize the coordinate system for the detected 2D code and the transformation matrix to present holograms in predetermined positions relative to the patient's anatomy.
1 . A registration and tracking device comprising:
a frame including a hub and two arms extending from the hub;
three legs attached to the frame to support the frame, wherein the three legs are arranged to dock the registration and tracking device to a portion of an anatomical structure; and
a target plate attached to the frame opposite the three legs,
wherein
the target plate defines a front face and a back face,
the target plate includes a two-dimensional code at the front face,
the two-dimensional code defines a three-dimensional spatial coordinate system,
the two-dimensional code is integrated with the target plate,
the frame defines a nominal plane, and
the target plate is in a known geometric relationship to the nominal plane defined by the frame.
2 . The registration and tracking device of claim 1 wherein the target plate is black anodized and the two-dimensional code is formed by laser etching the front face.
3 . The registration and tracking device of claim 2 wherein the laser etching produces pixel elements by removing the black anodize and the pixel elements form the two-dimensional code.
4 . The registration and tracking device of claim 3 wherein the target plate is and the two-dimensional code are both approximately four inches by four inches and the two-dimensional code has fewer than 20 by 20 of the pixel elements.
5 . The registration and tracking device of claim 3 wherein the two-dimensional code has fewer than 20 by 20 of the pixel elements.
6 . The registration and tracking device of claim 5 wherein the two-dimensional code includes:
a quiet zone around an outer perimeter of the two-dimensional code;
a positioning detection marker; and
a detection pattern.
7 . The registration and tracking device of claim 6 wherein the two-dimensional code is free from including:
one or more alignment markings;
one or more timing patterns;
version information;
format information; and
one or more error correction codes.
8 . The registration and tracking device of claim 7 wherein the detection pattern does not encode data.
9 . The registration and tracking device of claim 2 wherein the target plate is formed from aluminum.
10 . The registration and tracking device of claim 1 wherein
the target plate includes a second two-dimensional code at the back face, and
the second two-dimensional code is integrated with the target plate.
11 . A registration and tracking device comprising:
a frame including a hub and two arms extending from the hub;
three legs attached to the frame to support the frame, wherein the three legs are arranged to dock the registration and tracking device to a portion of an anatomical structure; and
a target plate attached to the frame opposite the three legs,
wherein
the target plate defines a front face and a back face,
the target plate includes a two-dimensional code at the front face,
the two-dimensional code defines a three-dimensional spatial coordinate system,
the two-dimensional code is integrated with the target plate,
the three legs have tips, and
the target plate is attached to the frame in a predetermined geometric relationship relative to the tips of the three legs.