CA2921589C - Optical tracking - Google Patents

Optical tracking Download PDF

Info

Publication number
CA2921589C
CA2921589C CA2921589A CA2921589A CA2921589C CA 2921589 C CA2921589 C CA 2921589C CA 2921589 A CA2921589 A CA 2921589A CA 2921589 A CA2921589 A CA 2921589A CA 2921589 C CA2921589 C CA 2921589C
Authority
CA
Canada
Prior art keywords
orientation
identification element
visual identification
cameras
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CA2921589A
Other languages
English (en)
French (fr)
Other versions
CA2921589A1 (en
Inventor
Sebastian Wittmeier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CUREFAB TECHNOLOGIES GmbH
Original Assignee
CUREFAB TECHNOLOGIES GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CUREFAB TECHNOLOGIES GmbH filed Critical CUREFAB TECHNOLOGIES GmbH
Publication of CA2921589A1 publication Critical patent/CA2921589A1/en
Application granted granted Critical
Publication of CA2921589C publication Critical patent/CA2921589C/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/285—Analysis of motion using a sequence of stereo image pairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Image Analysis (AREA)
CA2921589A 2013-08-20 2014-07-31 Optical tracking Active CA2921589C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP13180985.7 2013-08-20
EP13180985.7A EP3001219B1 (en) 2013-08-20 2013-08-20 Optical tracking
PCT/EP2014/066505 WO2015024755A1 (en) 2013-08-20 2014-07-31 Optical tracking

Publications (2)

Publication Number Publication Date
CA2921589A1 CA2921589A1 (en) 2015-02-26
CA2921589C true CA2921589C (en) 2021-11-09

Family

ID=49035329

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2921589A Active CA2921589C (en) 2013-08-20 2014-07-31 Optical tracking

Country Status (8)

Country Link
US (1) US9613421B2 (enExample)
EP (1) EP3001219B1 (enExample)
JP (1) JP6441346B2 (enExample)
CN (1) CN105659107B (enExample)
AU (1) AU2014310841A1 (enExample)
CA (1) CA2921589C (enExample)
ES (1) ES2763912T3 (enExample)
WO (1) WO2015024755A1 (enExample)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105361905B (zh) * 2015-12-03 2019-02-01 汕头市超声仪器研究所有限公司 一种基于模式识别的超声探头动态温控系统
GB2548341A (en) * 2016-03-10 2017-09-20 Moog Bv Movement tracking and simulation device and method
US20170273665A1 (en) * 2016-03-28 2017-09-28 Siemens Medical Solutions Usa, Inc. Pose Recovery of an Ultrasound Transducer
US10223798B2 (en) * 2016-05-27 2019-03-05 Intellijoint Surgical Inc. Systems and methods for tracker characterization and verification
KR101820682B1 (ko) * 2016-08-09 2018-01-23 주식회사 고영테크놀러지 옵티컬 트래킹용 마커, 옵티컬 트래킹 시스템 및 옵티컬 트래킹 방법
JP6850896B2 (ja) * 2017-09-27 2021-03-31 富士フイルム株式会社 超音波診断装置および超音波診断装置の制御方法
DE102019201526A1 (de) * 2019-02-06 2020-08-06 Ford Global Technologies, Llc Verfahren und System zum Erfassen und Messen der Position eines Bauteils gegenüber einer Referenzposition sowie der Verschiebung und der Verdrehung eines sich relativ zu einem Bezugssystem bewegenden Bauteils
KR102285007B1 (ko) * 2019-06-21 2021-08-03 주식회사 데카사이트 초음파 스캐너의 탐촉자의 위치 및 자세 추적을 이용한 초음파 영상 제공 장치 및 방법
CN112568935B (zh) * 2019-09-29 2024-06-25 中慧医学成像有限公司 基于三维追踪相机的三维超声成像方法和系统
CA3164828C (en) 2021-06-24 2025-07-08 Northern Digital Inc. RETROREFLECTIVE TARGET DISC

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6926673B2 (en) 2000-11-28 2005-08-09 Roke Manor Research Limited Optical tracking systems
US6491632B1 (en) * 2001-06-26 2002-12-10 Geoffrey L. Taylor Method and apparatus for photogrammetric orientation of ultrasound images
US7029477B2 (en) * 2002-12-20 2006-04-18 Zimmer Technology, Inc. Surgical instrument and positioning method
US6925339B2 (en) * 2003-02-04 2005-08-02 Zimmer Technology, Inc. Implant registration device for surgical navigation system
JP4914038B2 (ja) * 2004-11-04 2012-04-11 キヤノン株式会社 情報処理方法および装置
US20090306509A1 (en) * 2005-03-30 2009-12-10 Worcester Polytechnic Institute Free-hand three-dimensional ultrasound diagnostic imaging with position and angle determination sensors
JP4914039B2 (ja) * 2005-07-27 2012-04-11 キヤノン株式会社 情報処理方法および装置
JP4880264B2 (ja) * 2005-08-24 2012-02-22 オリンパス株式会社 位置検出装置および医療装置位置検出システム
US7677078B2 (en) * 2006-02-02 2010-03-16 Siemens Medical Solutions Usa, Inc. Line-based calibration of ultrasound transducer integrated with a pose sensor
CN101053518A (zh) * 2006-04-12 2007-10-17 杨章民 姿态监控系统
US7599789B2 (en) * 2006-05-24 2009-10-06 Raytheon Company Beacon-augmented pose estimation
CN101869484B (zh) * 2009-04-24 2015-05-13 深圳迈瑞生物医疗电子股份有限公司 具有触摸屏的医疗诊断装置及其操控方法
FR2960082B1 (fr) * 2010-05-17 2012-08-10 Commissariat Energie Atomique Procede et systeme pour fusionner des donnees issues de capteurs d'images et de capteurs de mouvement ou de position
CN102479386A (zh) * 2010-11-24 2012-05-30 湘潭大学 基于单目视频的人体上半身三维运动跟踪方法
US8448056B2 (en) * 2010-12-17 2013-05-21 Microsoft Corporation Validation analysis of human target
JP5803909B2 (ja) * 2010-12-24 2015-11-04 コニカミノルタ株式会社 超音波画像生成装置及び画像生成方法
US20130131510A1 (en) * 2011-05-30 2013-05-23 Tadamasa Toma Ultrasound image generation apparatus and ultrasound image generation method
JP5728372B2 (ja) * 2011-11-30 2015-06-03 キヤノン株式会社 情報処理装置、情報処理装置の制御方法、およびプログラム
US9111351B2 (en) * 2011-12-15 2015-08-18 Sony Corporation Minimizing drift using depth camera images
EP2822472B1 (en) * 2012-03-07 2022-09-28 Ziteo, Inc. Systems for tracking and guiding sensors and instruments
JP2014050589A (ja) * 2012-09-07 2014-03-20 Furuno Electric Co Ltd 測定装置
WO2014139023A1 (en) * 2013-03-15 2014-09-18 Synaptive Medical (Barbados) Inc. Intelligent positioning system and methods therefore
EP2981943B1 (en) * 2013-04-03 2017-03-15 Brainlab AG Method and device for determining the orientation of a co-ordinate system of an anatomical object in a global co-ordinate system
WO2015103388A1 (en) * 2014-01-02 2015-07-09 Metritrack, Inc. System and method for tracking completeness of co-registered medical image data

Also Published As

Publication number Publication date
CN105659107A (zh) 2016-06-08
US9613421B2 (en) 2017-04-04
CN105659107B (zh) 2019-04-09
JP2016527998A (ja) 2016-09-15
US20160171702A1 (en) 2016-06-16
ES2763912T3 (es) 2020-06-01
EP3001219B1 (en) 2019-10-02
AU2014310841A1 (en) 2016-03-10
JP6441346B2 (ja) 2018-12-19
WO2015024755A1 (en) 2015-02-26
CA2921589A1 (en) 2015-02-26
EP3001219A1 (en) 2016-03-30

Similar Documents

Publication Publication Date Title
US9613421B2 (en) Optical tracking
JP4757142B2 (ja) 撮影環境校正方法及び情報処理装置
CN111487320B (zh) 基于三维光学成像传感器的三维超声成像方法和系统
CN109938837B (zh) 光学跟踪系统及光学跟踪方法
US20200129240A1 (en) Systems and methods for intraoperative planning and placement of implants
KR102016636B1 (ko) 카메라와 레이더의 캘리브레이션 장치 및 방법
GB2557465A (en) Method for calibrating a camera and calibration system
JP6746050B2 (ja) キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム
US12496048B2 (en) Three-dimensional ultrasound imaging support apparatus, three-dimensional ultrasound imaging support method, and three-dimensional ultrasound imaging support program
US20160379368A1 (en) Method for determining an imaging specification and image-assisted navigation as well as device for image-assisted navigation
JP2008216089A (ja) 被験体の３次元的位置及び向き測定装置
JP2016527998A5 (enExample)
US20190095718A1 (en) Information processing apparatus
JP2021038939A (ja) キャリブレーション装置
JP2006317223A (ja) 位置姿勢計測方法及び装置
CN110132129A (zh) 具有周界限定功能的基于增强现实的系统
US11430153B2 (en) Method for detecting an arrangement of at least two cameras of a multi-camera system of a mobile carrier platform relative to one another and method for detecting an arrangement of the camera with respect to an object outside the mobile carrier platform
Marchese et al. Omni-directional vision with a multi-part mirror
CN119996794A (zh) 运动捕捉系统、方法和存储介质
KR101725654B1 (ko) 호흡 모니터링 장치 및 그 방법
KR102285337B1 (ko) 엑스선 장치의 캘리브레이션 방법 및 장치
KR101626572B1 (ko) 캘리브레이션 장치 및 방법, 캘리브레이션 용 격자판
EP3834997A1 (en) Method and device for calibrating a machine vision device for position determination
WO2018235255A1 (ja) 医療システムとその作動方法
JP7716776B2 (ja) 写真測量システム

Legal Events

Date Code Title Description
EEER Examination request

Effective date: 20190719