Configuration marker design and detection for instrument tracking
A tool tracking method comprises receiving stereo image data of a tool. The tool includes a tracking marker. The method also comprises receiving first kinematic data for the tool and determining a three-dimensional image-derived pose of the tool from the stereo image data of the tool and the tracking marker. The method also comprises determining a first kinematic pose of the tool from the first kinematic data and determining a pose offset between the image-derived pose of the tool and the first kinematic pose of the tool. The method also comprises determining a corrected first kinematic pose of the tool based on the pose offset and the first kinematic data.
1. A tool tracking method comprising:
receiving stereo image data of a tool, wherein the tool includes a tracking marker;
receiving first kinematic data for the tool;
determining a three-dimensional image-derived pose of the tool from the stereo image data of the tool and the tracking marker;
determining a first kinematic pose of the tool from the first kinematic data;
determining a pose offset between the image-derived pose of the tool and the first kinematic pose of the tool; and
determining a corrected first kinematic pose of the tool based on the pose offset and the first kinematic data.
2. The tool tracking method of claim 1 , further comprising
receiving second kinematic data for the tool; and
determining a corrected second kinematic pose of the tool based on the pose offset and the second kinematic data.
3. The tool tracking method of claim 2 , wherein the second kinematic data and the stereo image data are recorded at substantially different points in time.
4. The tool tracking method of claim 2 , wherein determining the corrected second kinematic pose of the tool is further based on the corrected first kinematic pose.
5. The tool tracking method of claim 1 , wherein the first kinematic data and the stereo image data are recorded at substantially a same point in time.
6. The tool tracking method of claim 1 , wherein receiving first kinematic data includes receiving the first kinematic data from kinematic joint sensors.
7. The tool tracking method of claim 1 , wherein determining the three-dimensional image-derived pose of the tool includes determining a three-dimensional pose of the tracking marker.
8. The tool tracking method of claim 1 , further comprising
determining an identification feature for the tracking marker.
9. The tool tracking method of claim 1 , further comprising
comparing the three-dimensional image-derived pose of the tool to an expected tool state range.
10. The tool tracking method of claim 1 , wherein the tracking marker includes at least three non-collinear features.
11. A system comprising:
a processor; and
a memory having computer readable instructions stored thereon, the computer readable instructions, when executed by the processor, cause the system to:
receive stereo image data of a tool, wherein the tool includes a tracking marker;
receive first kinematic data for the tool;
determine a three-dimensional image-derived pose of the tool from the stereo image data of the tool and the tracking marker;
determine a first kinematic pose of the tool from the first kinematic data;
determine a pose offset between the image-derived pose of the tool and the first kinematic pose of the tool; and
determine a corrected first kinematic pose of the tool based on the pose offset and the first kinematic data.
12. The system of claim 11 , wherein the computer readable instructions, when executed by the processor, further cause the system to:
receive second kinematic data for the tool; and
determine a corrected second kinematic pose of the tool based on the pose offset and the second kinematic data.
13. The system of claim 12 , wherein the second kinematic data and the stereo image data are recorded at substantially different points in time.
14. The system of claim 12 , wherein determining the corrected second kinematic pose of the tool is further based on the corrected first kinematic pose.
15. The system of claim 11 , wherein the first kinematic data and the stereo image data are recorded at substantially a same point in time.
16. The system of claim 11 , wherein receiving first kinematic data includes receiving the first kinematic data from kinematic joint sensors.
17. The system of claim 11 , wherein determining the three-dimensional image-derived pose of the tool includes determining a three-dimensional pose of the tracking marker.
18. The system of claim 11 , wherein the computer readable instructions, when executed by the processor, further cause the system to:
determine an identification feature for the tracking marker.
19. The system of claim 11 , wherein the computer readable instructions, when executed by the processor, further cause the system to:
compare the three-dimensional image-derived pose of the tool to an expected tool state range.
20. The system of claim 11 , wherein the tracking marker includes at least three non-collinear features.