Tracker-based surgical navigation system and its operation method

Abstract

This invention provides a system and method for optimizing the tracking of a target object within a surgical workspace. [Solution] The tracker is positioned relative to a target object having predefined geometric markers 54 to track the tracker's posture within the surgical workspace. A localizer camera 18 works in conjunction with the tracker to generate image data showing each blob of the marker generated from the optical signals received from the markers. The characteristics of each blob are acquired and compared to the optimal characteristics. Based on the comparison, the operation of the tracker, the operation of the localizer, or both are adjusted to optimize the blobs generated from the markers.

Description

Technical Field

[0001] (Cross - reference to related applications) This application claims priority to U.S. Provisional Patent Application No. 63 / 190,791, filed on May 20, 2021, the entire disclosure of which is hereby incorporated by reference into this specification as part thereof. and is hereby incorporated by reference into this specification as part thereof. .

Background Art

[0002] Conventional surgical navigation systems image fiducials attached to a target object and calculate the position of such fiducials within the surgical workspace to track the target object within the surgical workspace. Suboptimal lighting can affect the ability of the surgical navigation system to accurately determine the position of each fiducial, which can in turn affect tracking accuracy. within the surgical workspace to track the target object within the surgical workspace. Suboptimal lighting can affect the ability of the surgical navigation system to accurately determine the position of each fiducial, which can in turn affect tracking accuracy. within the surgical workspace to track the target object within the surgical workspace. Suboptimal lighting can affect the ability of the surgical navigation system to accurately determine the position of each fiducial, which can in turn affect tracking accuracy. within the surgical workspace to track the target object within the surgical workspace. Suboptimal lighting can affect the ability of the surgical navigation system to accurately determine the position of each fiducial, which can in turn affect tracking accuracy. .

Summary of the Invention

Problems to be Solved by the Invention

[0003] The summary of this invention introduces, in a simplified form, a selection of concepts that will be further described below in the form of embodiments for carrying out the following invention. The summary of this invention is not intended to limit the scope of the claimed invention, nor does it necessarily identify each important or essential characteristic of the claimed invention. The summary of this invention is not intended to limit the scope of the claimed invention, nor does it necessarily identify each important or essential characteristic of the claimed invention. The summary of this invention is not intended to limit the scope of the claimed invention, nor does it necessarily identify each important or essential characteristic of the claimed invention. .

Means for Solving the Problems

[0004] In a first aspect, a navigation system is provided for optimizing the tracking of a target object within a surgical workspace. This navigation system is disposed relative to the target object relative to the target object A tracker that tracks the position of the tracker within the surgical workspace. A tracker having an active marker of a predefined geometry, and this tracker -In cooperation with, the active marker generated from the light signal emitted from the active marker It is configured to generate image data that shows each blob (small cluster) of the ker. A localizer camera and a tracker and localizer camera are connected and can communicate with each other. It includes a controller. The controller sets the active marker corresponding to the blob. Assign each blob, obtain the characteristics of each blob, and compare the obtained characteristics with the optimal characteristics. Based on the comparison, the optical signal emitted from at least one of the active markers is tracked. It is configured to communicate at least one control signal to the tracker to cause adjustment.

[0005] In the second aspect, a navigation system is used to optimize the tracking of a target object within the surgical workspace. A navigation system is provided. This navigation system is used within the surgical workspace. A first tracker positioned relative to a first target object, within the surgical workspace. To track the attitude of this first tracker, an active geometry with predefined geometry is used. A first tracker having a marker, and a second tracker positioned relative to a second target object within the surgical workspace. This is a second tracker, and the appearance of this second tracker within the surgical workspace. A second track with an active marker of predefined geometry to track momentum The light emitted from the active marker works in conjunction with the first and second trackers. Each first blob of the active marker of the first tracker generated from the signal, and the active of a second tracker generated from the light signal emitted from the active marker A robot configured to generate image data showing each of the second blobs of the IV markers. - Communication between the colorizer camera, the first and second trackers, and the localizer camera. Includes a controller which can be coupled to the first and second blobs. Each characteristic is acquired, and the acquired characteristics are used as the first optimal characteristic specific to the first tracker, and The first optimal characteristics are compared with a second optimal characteristic specific to the second tracker, which is different from the first optimal characteristic, and the comparison is based on this. Next, assign the first blob to the first tracker and the second blob to the second tracker. It is structured in such a way.

[0006] In the third aspect, a navigation system is used to optimize the tracking of a target object within the surgical workspace. A navigation system is provided. This navigation system is positioned relative to the target object. A tracker that tracks the position of this tracker within the surgical workspace. A tracker having an active marker of a predefined geometry, and the tracker In coordination, the active marker generated from the optical signal emitted from the active marker A localizer camera configured to generate image data showing each blob. and a controller that is communicatively coupled to the tracker and localizer camera. The controller uses image data to track the active location of trackers within the surgical workspace. Determine the position of the marker, and based on the determined position of the active marker, At least one light signal emitted from at least one car causes the tracker to adjust It is configured to communicate control signals to the tracker.

[0007] In a fourth aspect, a navigation system is provided for optimizing the tracking of a target object within a surgical workspace. This navigation system includes a tracker disposed on the target object, the tracker having passive markers of a predefined geometry for tracking the pose of the tracker within the surgical workspace, and a localizer camera configured to emit an optical signal for illuminating the passive markers, the localizer camera being configured to generate image data indicative of blobs of the passive markers generated from reflections of the optical signal emitted by the light source off the passive markers, and a controller communicatively coupled to the localizer camera. The controller is configured to acquire characteristics of each blob, compare the acquired characteristics to optimal characteristics, and based on the comparison, adjust at least one optical parameter of the localizer camera. ーションシステムが提供される。このナビゲーションシステムは、目標物に対して配置さ れるトラッカーであって、手術作業空間内においてこのトラッカーの姿勢を追跡するため に予め定義されたジオメトリのパッシブマーカーを有するトラッカーと、パッシブマーカ ーを照明するために光信号を発するように構成された光源を含むローカライザーカメラで あって、光源から発せられた光信号のパッシブマーカーによる反射から生成されたパッシ ブマーカーのブロブを示す画像データを生成するように構成されたローカライザーカメラ と、ローカライザーカメラに通信可能に結合されたコントローラとを含む。コントローラ は、各ブロブの特性を取得し、取得した特性を最適特性と比較し、比較に基づいて、ロー カライザーカメラの少なくとも1つの光学パラメータを調整するように構成される。

[0008] In a fifth aspect, a navigation system is provided for tracking a target object within a surgical workspace. This navigation system includes a first tracker disposed on a first target object within the surgical workspace, the first tracker including passive markers of a predefined geometry for tracking the pose of the first tracker within the surgical workspace, a second tracker disposed on a second target object within the surgical workspace, the second tracker having passive markers of a predefined geometry for tracking the pose of the second tracker within the surgical workspace, and a light source configured to emit an optical signal for illuminating the passive markers of the first and second trackers. システムが提供される。このナビゲーションシステムは、手術作業空間内において第1の 目標物に対して配置される第1のトラッカーであって、手術作業空間内においてこの第1 のトラッカーの姿勢を追跡するために予め定義されたジオメトリのパッシブマーカーを含 む第1のトラッカーと、手術作業空間内において第2の目標物に対して配置される第2の トラッカーであって、手術作業空間内においてこの第2のトラッカーの姿勢を追跡するた めに予め定義されたジオメトリのパッシブマーカーを有する第2のトラッカーと、第1及 び第2のトラッカーのパッシブマーカーを照明するために光信号を発するように構成され A localizer camera including a light source, the passive marker of the optical signal emitted from the light source Each blob of the passive markers of the first and second trackers generated from the reflection of the car A localizer camera configured to generate image data showing the blob, and a controller communicably coupled to the localizer camera. The controller emits a first optical signal from a light source specific to the first tracker, receives the image data generated by the localizer camera corresponding to the emitted first optical signal, and based on the received image data corresponding to the first optical signal, is configured to track the pose of the first tracker within the surgical workspace. The controller emits a second optical signal from the light source, which is specific to the second tracker and has at least one characteristic different from at least one corresponding characteristic of the first optical signal, receives the image data generated by the localizer camera corresponding to the emitted second optical signal, and is further configured to track the pose of the second tracker within the surgical workspace based on the received image data corresponding to the second optical signal. A controller communicably coupled to the localizer camera is included. The controller emits a first optical signal from a light source specific to the first tracker, receives the image data generated by the localizer camera corresponding to the emitted first optical signal, and based on the received image data corresponding to the first optical signal, is configured to track the pose of the first tracker within the surgical workspace. The controller emits a second optical signal from the light source, which is specific to the second tracker and has at least one characteristic different from at least one corresponding characteristic of the first optical signal, receives the image data generated by the localizer camera corresponding to the emitted second optical signal, and is further configured to track the pose of the second tracker within the surgical workspace based on the received image data corresponding to the second optical signal. Emits a first optical signal from a light source specific to the first tracker, and corresponding to the emitted first optical signal Receives the image data generated by the localizer camera, and based on the received image data corresponding to the first optical signal Tracks the pose of the first tracker within the surgical workspace The controller emits a second optical signal from the light source, which is specific to the second tracker and has at least one characteristic different from at least one corresponding characteristic of the first optical signal Receives the image data generated by the localizer camera corresponding to the emitted second optical signal, and based on the received image data corresponding to the second optical signal Is further configured to track the pose of the second tracker within the surgical workspace Generated by the localizer camera corresponding to the emitted second optical signal, and based on the received image data corresponding to the second optical signal Is further configured to track the pose of the second tracker within the surgical workspace

[0009] In a sixth aspect, a navigation system for optimizing the tracking of an object within a surgical workspace is provided. This navigation system includes a tracker disposed with respect to the object, the tracker having passive markers of a predefined geometry for tracking the pose of the tracker within the surgical workspace, and a localizer camera including a light source configured to emit an optical signal for illuminating the passive markers, the passive markers being generated from the reflection of the optical signal emitted from the light source Disposed with respect to the object, and having passive markers of a predefined geometry for tracking the pose of the tracker within the surgical workspace A tracker for tracking the pose of the tracker within the surgical workspace Having passive markers of a predefined geometry, and a localizer camera including a light source configured to emit an optical signal for illuminating the passive markers The passive markers being generated from the reflection of the optical signal emitted from the light source Generated from the reflection of the passive markers of the optical signal emitted from the light source A locale configured to generate image data showing each blob of the blob marker. It includes a localizer camera and a controller that is communicatively coupled to the localizer camera. The controller emits an optical signal with changing characteristics from the light source, and the emitted optical signal is processed by the controller. This shows each blob of the passive marker generated from the reflection by the sib marker. Image data generated by the localizer camera for each of the transmitted optical signals. Upon receiving the image data, for each instance of the received image data, the image data indicated The characteristics of each blob are acquired, and the acquired characteristics are compared with the optimal characteristics to determine the value of the received image data. Determine which stance is the closest to the optimal one, and then select the closest received image data. In response to determining the instance, the tracker receives the instance of the image data. Assign the characteristics of the optical signal corresponding to the tracker, and based on the optical signal characteristics assigned to the tracker... It is configured to track the tracker's posture within the surgical workspace.

[0010] In the seventh aspect, a navigation system is used to optimize the tracking of a target object within the surgical workspace. A navigation system is provided. This navigation system is positioned relative to the target object. A tracker that tracks the position of this tracker within the surgical workspace. A tracker with a predefined geometry passive marker, and a passive marker A localizer camera that includes a light source configured to emit a light signal to illuminate the area. There, the passive marker generated from the reflection of the light signal emitted from the light source A locale configured to generate image data showing each blob of the blob marker. It includes a localizer camera and a controller that is communicatively coupled to the localizer camera. The tracker uses image data to track passive markers within the surgical workspace. Determine the position of the passive marker, and based on the determined position of the localizer camera It is configured to adjust at least one optical parameter.

[0011] In the eighth aspect, a navigation system is used to optimize the tracking of a target object within the surgical workspace. A navigation system is provided. This navigation system is positioned relative to the target object. A tracker that tracks the position of this tracker within the surgical workspace. A tracker with passive markers of predefined geometry that can be manually repositioned. And a low, including a light source configured to emit a light signal to illuminate a passive marker. It is a colorizer camera, and it reflects the light signal emitted from the light source by a passive marker. The system is configured to generate image data showing each blob of the generated passive markers. The localizer camera and the controller connected to the localizer camera for communication This includes the roller. The controller acquires the characteristics of each blob and optimizes the acquired characteristics. Compare and, based on the comparison, provide guidance for repositioning the tracker's passive markers. It is configured to determine and display.

[0012] In the ninth aspect, a navigation system is used to navigate a target object within the surgical workspace. A method for optimizing tracking is provided. This navigation system tracks targets. A tracker that is positioned in such a way that its position is tracked within the surgical workspace. A tracker with an active marker for a predefined geometry to trace, In conjunction with the lacquer, the active light generated from the light signal emitted from the active marker A locale configured to generate image data showing each blob of the blob marker. The localizer camera and a controller that is communicatively coupled to the tracker and localizer cameras. The method includes placing a tracker relative to the target object in the surgical workspace and - Generated from the light signal emitted from the active marker by the colorizer camera To generate image data representing each blob of the active marker, and control This involves assigning each blob to an active marker corresponding to the blob. The controller retrieves the characteristics of each blob, and the controller also retrieves the characteristics of each blob. The acquired characteristics are compared with the optimal characteristics, and based on the comparison, the controller... A small number of optical signals emitted from at least one active marker cause the tracker to adjust. This includes communicating at least one control signal to the tracker.

[0013] In the tenth aspect, a target object in the surgical workspace is located using a navigation system. A method is provided to optimize tracking. This navigation system is used in surgical operations. A first tracker positioned in space relative to a first target object, in the surgical work space Within the interval, a predefined geometry is used to track the attitude of this first tracker. A first tracker with an active marker, and a second target object within the surgical workspace. A second tracker positioned relative to the surgical workspace, the second tracker It has predefined geometry active markers to track the angler's posture. The second tracker works in conjunction with the first and second trackers to transmit data from the active marker. The active markers of the first and second trackers generated from the optical signals A localizer camera configured to generate image data showing the blob, and the first and a controller communicatively coupled to the second tracker and localizer camera. The method includes the first and second target objects in the surgical workspace. By placing the tracker and using a localizer camera, active markers can be detected. The active markers of the first and second trackers are generated from the light signals emitted from them. To generate image data representing each blob, and by the controller, the first and The process involves obtaining the properties of each of the two blobs, and then using the controller to process the obtained properties. , a first optimal characteristic specific to the first tracker, and a second tracker different from the first optimal characteristic By comparing it with a second optimal characteristic specific to the controller, and based on that comparison, the controller... Then, assign the first blob to the first tracker and the second blob to the second tracker. This includes the act of doing.

[0014] In the eleventh aspect, a target object in the surgical workspace is located using a navigation system. A method is provided to optimize tracking of the target. This navigation system tracks the target. A tracker positioned in the surgical workspace, whose position is controlled within the surgical workspace. A tracker with active markers on a predefined geometry for tracking, In conjunction with the tracker, the active signal generated from the light signal emitted from the active marker Local color configured to generate image data representing each blob of the IV marker. The localizer camera and the control unit that is communicatively coupled to the tracker and localizer cameras. - Includes the following. The method involves positioning the tracker relative to the target object within the surgical workspace, The localizer camera generates from the light signal emitted from the active marker. To generate image data showing each blob of the active marker, and control Based on image data, the tracker's active markers in the surgical workspace are determined by the tracker. - Determine the position and, based on the determined position of the active marker, control The light signal emitted from at least one of the active markers is transmitted to the tracker by the system. This includes communicating at least one control signal to the tracker to be adjusted.

[0015] In the twelfth aspect, a target object in the surgical workspace is located within the surgical workspace using a navigation system. A method is provided to optimize tracking of the target. This navigation system tracks the target. A tracker positioned in the surgical workspace, whose position is controlled within the surgical workspace. A tracker with passive markers of predefined geometry for tracking, and Local light including a light source configured to emit a light signal to illuminate a marker This is a light camera, which generates light signals from a light source from reflection by a passive marker. Local color configured to generate image data showing the blob of the passive marker. It includes an izer camera and a controller that is communicatively coupled to the localizer camera. The method involves positioning a tracker relative to the target object within the surgical workspace, and using a localizer. The camera generates a passive marker from the reflection of the light signal emitted from the light source. To generate image data representing each blob of the active marker, and to the controller Therefore, the characteristics of each blob are obtained, and the controller optimizes the obtained characteristics. By comparing the characteristics and based on the comparison, the controller controls the localizer camera. This includes adjusting at least one optical parameter.

[0016] In the 13th aspect, a target object in the surgical workspace is located using a navigation system. A method is provided to optimize tracking. This navigation system is used in surgical operations. A first tracker positioned in space relative to a first target object, in the surgical work space A predefined geometry passive is used to track the attitude of this first tracker within the interval. A first tracker equipped with a boom marker, and a second tracker in the surgical workspace relative to a second target. A second tracker is positioned within the surgical workspace, and this second tracker A second tracker with a predefined geometric passive marker to track posture. The tracker emits a light signal to illuminate the passive markers of the first and second trackers. A localizer camera including a light source configured to such effect, wherein light signals emitted from the light source The passive markers of the first and second trackers are generated from the reflection of the passive marker of the unit. A localizer camera configured to generate image data showing each blob. The method includes a controller that is communicatively coupled to a localizer camera. Within the surgical workspace, the first and second trackers are positioned relative to the first and second targets, respectively. To do so, and to emit a first light signal specific to the first tracker from the light source, and control Laura, in response to the first light signal emitted by the localizer camera, The controller receives the corresponding image data and the first optical signal. Based on the received image data, the posture of the first tracker is tracked within the surgical workspace. The method includes, from the light source, a method specific to the second tracker and less of the first optical signal It emits a second optical signal having at least one characteristic different from one of its corresponding characteristics. The controller then uses a localizer that corresponds to the second optical signal emitted. The camera receives image data, and the controller then controls the second Based on the received image data corresponding to the optical signal, a second tracker in the surgical workspace This further includes tracking posture.

[0017] In the 14th aspect, a target object in the surgical workspace is located using a navigation system. A method is provided to optimize tracking of the target. This navigation system tracks the target. A tracker positioned in the surgical workspace, whose position is controlled within the surgical workspace. A tracker with passive markers of predefined geometry for tracking, and Local light including a light source configured to emit a light signal to illuminate a marker This is a light camera, which generates light signals from a light source from reflection by a passive marker. It is configured to generate image data showing each blob of the passive markers that have been set. A localizer camera and a controller that is communicatively coupled to the localizer camera. The method includes placing a tracker relative to the target object in the surgical workspace and a light source. Therefore, it emits an optical signal with changing characteristics, and the controller controls the emitted Each block of the passive marker generated from the reflection of the optical signal by the passive marker For each of the emitted light signals, which indicate the color, a localizer camera generates a signal. The process involves receiving image data and controlling each instance of the received image data. Laura retrieves the characteristics of each blob indicated by the image data and sends them to the controller. Therefore, by comparing the acquired characteristics with the optimal characteristics, which of the instances of the received image data... To determine which is the most optimally closest, and the Instagram of the most optimally closest received image data. In response to the decision, the controller sends the received image data to the tracker. Assigning the characteristics of the optical signal corresponding to the instance of the device, and the controller, Based on the optical signal characteristics assigned to the tracker, the tracker's position within the surgical workspace is determined. This includes tracking.

[0018] In the 15th aspect, an eye is located within the surgical workspace using a surgical navigation system. A method for optimizing target tracking is provided. This navigation system targets A tracker that is positioned relative to an object, and the appearance of this tracker within the surgical workspace. A tracker with passive markers of predefined geometry to track momentum , including a light source configured to emit a light signal to illuminate a passive marker It is a riser camera that uses a passive marker to reflect the light signal emitted from the light source. The system is configured to generate image data showing each blob of the generated passive markers. A localized camera and a controller coupled to the localized camera for communication - Includes the following. The method involves positioning the tracker relative to the target object within the surgical workspace, A localizer camera detects the reflection of a passive marker of the light signal emitted from the light source. To generate image data showing each blob of the generated passive markers, The controller controls the passive tracking of trackers in the surgical workspace based on image data. The marker's position is determined, and based on the determined position of the passive marker, control - Adjust at least one optical parameter of the localizer camera. This includes.

[0019] In the 16th aspect, a target object in the surgical workspace is located within the surgical workspace using a navigation system. A method is provided to optimize tracking of the target. This navigation system tracks the target. A tracker positioned in the surgical workspace, whose position is controlled within the surgical workspace. A tracker with passive markers of predefined geometry that can be repositioned for tracking. Includes a marker and a light source configured to emit a light signal to illuminate the passive marker. A localizer camera that uses a passive marker to detect light signals emitted from a light source. This generates image data showing each blob of the passive marker generated from the reflection. A localizer camera configured in such a way, and a localizer camera that is communicatively coupled to the localizer camera. The method includes a controller. The method involves positioning the tracker relative to the target object within the surgical workspace. In addition, a localizer camera detects the light signals emitted from the light source, which act as passive markers. Generate image data showing each blob of the passive marker generated from the reflection. The controller obtains the characteristics of each blob, and the controller Then, the acquired characteristics are compared with the optimal characteristics, and the controller uses this comparison to determine the optimal characteristics. , determining and displaying guidance for repositioning the tracker's passive markers. This includes.

[0020] In the 17th aspect, a robotic device configured to support a surgical tool and the 9th One or more components configured to implement one or more of the 16th aspects A robotic surgical system including a TOROA is provided, and one or more controllers control the robot. The surgical device controls the movement of the surgical tool relative to the cutting boundary to target the volume of patient tissue. It is configured to remove.

[0021] Any of the above embodiments can be combined in whole or in part.

[0022] Any of the above embodiments may be used individually with one or more of the embodiments described below. It can be used regardless of whether you use it alone or in combination with other methods.

[0023] In some embodiments, at least one control signal communicated to the tracker is active The intensity and / or duration of the light signal emitted from at least one of the live markers are traced. This includes having the blob adjust. Several embodiments involve adjusting each of the blobs. Compare the characteristics acquired by Rob to the optimal characteristics to determine if Rob is suboptimal. In order to make that judgment, and in response to the blob being determined not to be the best based on the comparison, Control signal that adjusts the tracker based on the optical signal emitted from the corresponding active marker. This includes communicating with the tracker.

[0024] In some embodiments, the acquired characteristics of each blob show a first value, and the optimal characteristics are a second value. The value is shown, and the first value shown for the blob is compared to the second value, and the first value of the blob In response to the comparison showing that the value of is greater than the second value, the active mark corresponding to the blob Control signals that reduce the intensity and / or duration of the light signal emitted from the car to the tracker. The number is communicated to the tracker, and the ratio indicates that the first value of the blob is less than the second value. In response to the comparison, the intensity of the optical signal emitted from the active marker corresponding to the blob and / or This includes communicating a control signal to the tracker to increase the duration.

[0025] In some embodiments, the acquired characteristic is the blob strength characteristic, and the optimal characteristic is the optimal blob strength characteristic. This includes having a low blob strength characteristic. In some embodiments, the optimal blob strength characteristic is low This includes showing a value between 75% and 95% of the full intensity value of the colorizer camera. In several embodiments, the acquired characteristic is the blob size characteristic, and the optimal characteristic is the optimal blob This includes the size characteristic. In some embodiments, the acquired characteristic is a blob shape characteristic. Yes, and this includes the fact that the optimal characteristics are the optimal blob shape characteristics.

[0026] In some embodiments, the acquired characteristics are defined as the first acquired characteristics, and the optimal characteristics The property is defined as the first optimal property, and one or more of the blob's second properties are The process involves obtaining a second characteristic, comparing one or more obtained second characteristics with a second optimal characteristic, and Based on the comparison of the obtained second characteristics with the second optimal characteristics, one or more blocks The optical signal emitted from at least one of the one or more active markers corresponding to the b This includes communicating at least one control signal to the tracker that causes the lacquer to adjust. In some embodiments, one or more acquired second characteristics are obtained in each of one or more blobs. The acquired second characteristic is included, and for each of the one or more blobs, the acquired blob The second characteristic is compared to the second optimal characteristic to determine whether the blob is not the best. Based on the comparison, if the blob is determined to be not the best, the corresponding action will be taken. A control signal is sent to the tracker to adjust the optical signal emitted from the marker. This includes communicating.

[0027] In some embodiments, the acquired characteristics are defined as the first acquired characteristics, and the optimal characteristics The first optimal characteristic is defined as the first optimal characteristic, and the first characteristic obtained by the blob is compared to the first optimal characteristic. In comparison, the first characteristic obtained by the blob is not the best, and based on the comparison Therefore, in response to the judgment that the first trait acquired by Blob was the best, A control signal is sent to the tracker to adjust the optical signal emitted from the corresponding active marker. Based on communication with the lacquer and comparison, the first characteristic obtained by the blob is the best. In response to that judgment, the second characteristic of the blob is acquired, and the second characteristic acquired by the blob Compare the characteristics of the first characteristic with the second optimal characteristic to determine whether the second characteristic obtained by the blob is the best. Based on the comparison, the second characteristic acquired by the blob is not the best. In response, the light signal emitted from the active marker corresponding to the blob is tracked by the tracker. This includes communicating control signals to the tracker to adjust the system.

[0028] In some embodiments, the first characteristic obtained is the blob strength characteristic, and the second characteristic obtained is This includes the characteristic being a blob size characteristic or a blob shape characteristic. Some embodiments are The first characteristic obtained is the blob size characteristic, and the second characteristic obtained is the blob intensity characteristic. or includes being a blob shape characteristic. In some embodiments, the acquired first characteristic is The first characteristic obtained is the blob shape characteristic, and the second characteristic obtained is either the blob strength characteristic or the blob size characteristic. This includes a certain thing.

[0029] In some embodiments, image data is transmitted to a first optical sensor of a localizer camera. The first corresponding image data and the second corresponding optical sensor of the localizer camera The image data includes the first and second image data, each of which is emitted from the active marker. The blobs for each active marker generated from the optical signal are shown, and the same act The first blob corresponding to the IV marker is derived from the first image data, and the second blob is derived from the second image data. Identifying from image data, and the first characteristic of the first blob and the second characteristic of the second blob. Obtaining the first and second properties obtained, and combining them, the combined blob The process involves forming a characteristic and comparing the bonded blob characteristic with the optimal characteristic to determine if the bonded blob characteristic is the best. To determine whether or not there is one, and based on the comparison, to determine that the coupling blob characteristics are not the best. In response, light emitted from the active markers corresponding to the first and second blobs This includes communicating a control signal to the tracker that causes the tracker to adjust the signal.

[0030] In some embodiments, the coupled blob characteristics exhibit a first value, and the optimal characteristics exhibit a second value. This involves comparing the first value to the second value and the ratio indicating that the first value is greater than the second value. In response to the comparison, the optical signals emitted from the active markers corresponding to the first and second blobs A control signal is sent to the tracker to reduce the intensity and / or duration of the signal. In response to the comparison that the first value is less than the second value, the first and second blobs The intensity and / or duration of the optical signal emitted from the corresponding active marker is traced. This includes communicating a control signal to the tracker to increase the tracker's output.

[0031] In some embodiments, the acquired first and second characteristics are the acquired blob intensity characteristics. and the optimal characteristics are the optimal blob strength characteristics. Some embodiments are the most The appropriate blob intensity characteristics are 75% or more and 95% or less of the full intensity value of the localizer camera. This includes showing the values ​​below. In some embodiments, the acquired first and second characteristics are obtained This includes having the specified size characteristics, and the optimal characteristics being the optimal blob size characteristics. In some embodiments, the acquired first and second characteristics are the acquired shape characteristics. This includes the fact that the optimal characteristics are the optimal blob shape characteristics.

[0032] In some embodiments, the coupled blob characteristic is defined as the first coupled blob characteristic, and optimally The characteristic is defined as the first optimal characteristic, the third characteristic of the first blob and the second characteristic of the second blob. By obtaining the fourth characteristic and combining the obtained third characteristic and the obtained fourth characteristic, To form a second bonded blob characteristic and to compare the second bonded blob characteristic with the second optimal characteristic. Based on this and a comparison of the second coupled blob characteristic with the second optimal characteristic, the first and The tracker adjusts the optical signal emitted from the active marker corresponding to the two blobs. This includes communicating control signals to the tracker. Some embodiments include a second coupling The blob characteristics are compared to the second optimal characteristics to determine whether the second coupled blob characteristics are not the best. In response to the decision that the second binding blob was not the best based on the comparison, The optical signals emitted from the active markers corresponding to the first and second blobs are tracked by a tracker. This includes communicating control signals to the tracker to adjust the system.

[0033] In some embodiments, the coupled blob characteristic is defined as the first coupled blob characteristic, and the most The optimal characteristic is defined as the first optimal characteristic, and the first coupled blob characteristic is compared with the first optimal characteristic. Then, to determine whether the first bonded blob characteristics are not the best, and the first bonded blob In response to determining that the characteristics are not optimal, the active corresponding to the first and second blobs The light signal emitted from the marker is used to send a control signal to the tracker, which then adjusts the signal. Based on this and the comparison, we determined that the first coupling blob characteristics were the best. , to obtain the third property of the first blob and the fourth property of the second blob, and The third characteristic and the acquired fourth characteristic are combined to form a second combined blob characteristic. The second bonded blob characteristic is compared to the second optimal characteristic, and the second bonded blob characteristic is the best. To determine whether or not, and based on the comparison, if the second coupling blob characteristics are not the best, In response to the interruption, the active markers corresponding to the first and second blobs emitted This includes communicating a control signal to the tracker that causes the tracker to adjust the optical signal.

[0034] In some embodiments, the acquired first and second characteristics are blob strength characteristics, and The third and fourth characteristics include being blob size characteristics or blob shape characteristics. In several embodiments, the acquired first and second characteristics are blob size characteristics, and the acquired The third and fourth characteristics include blob strength characteristics or blob shape characteristics. In that embodiment, the acquired first and second characteristics are blob shape characteristics, and the acquired third The fourth characteristic is a blob strength characteristic or a blob size characteristic.

[0035] In some embodiments, the target is defined as the first target, and the blob is the first The fact that it is defined as a blob, and that the tracker is defined as the first tracker. Therefore, the acquired characteristic is defined as the first acquired characteristic, and the optimal characteristic is the first trait The first optimal characteristic specific to the tracker is defined as the surgical work space. Positioned within the space relative to the second target object, and within the surgical workspace, this second track It has predefined geometry active markers to track the car's attitude. The image data generated by the localizer camera, including the data from the second tracker, is sent to the second tracker. The active signal of the second tracker is generated from the light signal emitted from the active marker. Each of the bum markers includes a second blob. Some embodiments include a second blob. Assign each of the second blobs to the active marker of the corresponding second tracker. This involves obtaining the second property of each second blob, and then using the obtained second property to... This involves comparing the tracker with a second optimal characteristic that is specific to the tracker and differs from the first optimal characteristic. Based on the comparison, at least one of the active markers of the second tracker is emitted. At least one control signal is sent to the second tracker to adjust the optical signal received by the second tracker. This further includes communicating with the car.

[0036] Several embodiments involve, for each of the second blobs, the obtained second blob By comparing the second characteristic with the second optimal characteristic, we can determine whether the second blob is not the best. And, in response to the judgment that the second blob was not the best based on the comparison, the second blob The light signal emitted from the active marker of the second tracker corresponding to the second tracker This includes communicating control signals to a second tracker to cause the car to adjust.

[0037] Several embodiments, based on the first optimal characteristics, enable the first tracker's active mechanism This includes assigning the first blob to the maker. Some embodiments of the first blob For each case, determine the difference between the first characteristic obtained from the first blob and the first optimal characteristic. The difference between the first characteristic obtained from the first blob and the first optimal characteristic is less than a threshold. The determination of whether or not this is the case, and the difference between the first characteristic obtained from the first blob and the first optimal characteristic. In response to the determination that it is below the threshold, the first blob corresponds to the first tracker. Based on this determination, the first blob is set to the active marker of the first tracker corresponding to the first blob. This includes assigning a value to a character.

[0038] Some embodiments, based on the second optimal characteristics, enable the second tracker's active mechanism. This includes assigning a second blob to the maker. Some embodiments of the second blob For each case, determine the difference between the second characteristic obtained from the second blob and the second optimal characteristic. The difference between the second characteristic obtained from the second blob and the second optimal characteristic is less than a threshold. The determination of whether or not this is the case, and the difference between the second characteristic obtained from the second blob and the second optimal characteristic. In response to the determination that it is below the threshold, the second blob corresponds to the second tracker. Based on this determination, the second blob is set to the active marker of the second tracker corresponding to the second blob. This includes assigning a value to a character.

[0039] Some embodiments involve a predefined geo of the active marker of the first tracker. Metrics and predefined active markers of a second tracker which are essentially equivalent. Includes geometry.

[0040] Several embodiments involve tracking the activity of trackers within the surgical workspace based on image data. Determine the position of the active marker, and based on the determined position of the active marker, The light signal emitted from at least one of the boom markers causes the tracker to adjust to at least This includes communicating one control signal to the tracker. Some embodiments are active For each marker, the characteristics obtained from the blob corresponding to the active marker are as follows: Compared to the optimal characteristics, determine whether the blob corresponding to the active marker is not the best. In response to the fact that the blob corresponding to the active marker was not the best, Based on the position determined by the active marker, the light signal emitted from the active marker This includes communicating a control signal to the tracker that causes it to adjust its position.

[0041] In some embodiments, the determined position of the active marker is the active marker Compared to the previously determined position, the distance between the active marker and the localizer camera By determining the change in distance, the active marker is determined based on the determined position. Control signals to the tracker that cause the tracker to adjust the optical signal emitted from the live marker. The optical signal emitted from the active marker is determined based on the number of digits and the change in distance. This includes communicating control signals to the tracker to cause it to adjust. The embodiment is such that a change in distance corresponds to an increase in the distance between the active marker and the localizer camera. By determining whether it indicates an increase or a decrease, the determined change in distance can be interpreted. Based on this, a control signal is generated that causes the tracker to adjust the optical signal emitted from the active marker. Communication with the tracker and the distance between the active marker and the localizer camera. In response to the change in distance indicating an increase, the intensity of the optical signal emitted from the active marker and / or to communicate a control signal to the tracker to increase the duration, and Responding to a change in distance indicating a decrease in the distance between the active marker and the localizer camera The intensity and / or duration of the light signal emitted from the active marker are sent to the tracker. This includes communicating a control signal to reduce the signal to the tracker.

[0042] Some embodiments reposition the tracker's active marker and the acquired characteristics Based on comparisons against optimal characteristics, at least one active marker is assigned to the tracker. At least one control signal to communicate to the tracker to cause relocation Includes a tracker including an actuator. Several embodiments include each of the blobs Then, the properties acquired by the blob are compared to the optimal properties to determine whether the blob is not the best. In response to the fact that the blob is not the best option based on comparisons, we will address the blob. This involves communicating a control signal to the tracker to reposition the active marker to the tracker. This includes the following. In some embodiments, the characteristics obtained from each blob show a first value and the optimal characteristics The second value is shown, and for each blob, the first value shown for the blob is compared with the second value. In response to the comparison and the comparison showing that the first value of the blob is greater than the second value, the blob The active marker corresponding to the localizer camera is moved away and redistributed to the tracker. The control signal to be placed is communicated to the tracker, and the first value of the blob is less than the second value. In response to the comparison demonstrating this, the active marker corresponding to the blob is localized by the localizer camera. This includes communicating a control signal to the tracker to cause it to reposition towards the tracker.

[0043] Some embodiments use a light source to illuminate passive markers based on comparison. By adjusting the selected optical signal, the localizer camera is less likely to be affected based on the comparison. Both involve adjusting one optical parameter. Some embodiments are based on comparison. The intensity and / or duration of the light signal emitted from the light source to illuminate the passive marker. By adjusting the time, at least one of the localizer cameras can be compared. This includes adjusting optical parameters.

[0044] Some embodiments combine the acquired characteristics to form a combined blob characteristic, By comparing the coupled blob characteristics with the optimal characteristics, it is possible to determine whether the coupled blob characteristics are not the best. Based on the comparison, we determined that the coupling blob characteristics were not the best, and in response, Low Color This includes adjusting at least one optical parameter of the Izer camera. In the application method, the coupled blob characteristics show a first value, the optimal characteristics show a second value, and the first value is... In response to comparing with the value of 2 and showing that the first value is greater than the second value, light By reducing the intensity and / or duration of the light signal emitted from the source, the passive marker In response to illumination and a comparison showing that the first value is less than the second value, the light source emits... By increasing the intensity and / or duration of the emitted light signal, the passive marker is illuminated. It includes "toto".

[0045] In some embodiments, the acquired characteristic is defined as the acquired first characteristic, and the coupled The blob characteristic is defined as the first coupled blob characteristic, and the optimal characteristic is defined as the first optimal characteristic. The first bonded blob characteristics are compared with the first optimal characteristics, and the first bonded blob characteristics are determined to be the most optimal. Based on the judgment of whether it is good or not, and the comparison, the first coupling blob property is the best. In response to this determination, at least one optical parameter of the localizer camera is Based on adjustments and comparisons, we determined that the first coupled blob characteristics were the best. In response, obtain the second property of each blob and combine the obtained second properties to obtain the second property Forming a bonded blob characteristic and comparing the second bonded blob characteristic with the second optimal characteristic, To determine whether the second coupling blob characteristics are not the best, and based on the comparison, the second In response to the determination that the coupled blob characteristics were not optimal, at least the localizer camera This also includes adjusting one optical parameter.

[0046] In some embodiments, the target is defined as the first target, and the blob is the first The fact that it is defined as a blob, and that the tracker is defined as the first tracker. And the optical signal is defined as a first optical signal specific to the first tracker, and the second The tracker is positioned relative to a second target object within the surgical workspace, and the second target object within the surgical workspace It has passive markers of predefined geometry to track the tracker's attitude. This includes the following: In some embodiments, a second light specific to the second tracker is transmitted from the light source. Emitting a signal, wherein the second optical signal is at least one corresponding to the first optical signal. It has at least one characteristic different from the characteristics, and emits, and to the localizer camera Therefore, the image data corresponding to the second optical signal generated is received. Image data is generated from the reflection of a second optical signal emitted from a light source by a passive marker. The second blob of each passive marker of the second tracker is received. The process involves obtaining the characteristics of each second blob and optimizing the characteristics of the obtained second blob. In comparison to the first blob, it is necessary to determine whether the characteristics of the second blob obtained are not the best, and to compare them. Based on the comparison, we determined that the characteristics of the second blob obtained were not the best, and in response, the second This further includes adjusting at least one characteristic of the optical signal.

[0047] Some embodiments include a first optical signal, which includes light intensity characteristics and / or light duration characteristics. Includes at least one characteristic of a second optical signal that is different from at least one corresponding characteristic of the first optical signal. In some embodiments, image data corresponding to a second optical signal is emitted from a light source. The passive marker of the first tracker is generated from the reflection of the optical signal of 2 by the passive marker. To show each third blob of the maker and receive image data corresponding to the second optical signal. In response to what was believed, the second blob is distinguished from the third blob based on its optimal characteristics. This includes. Several embodiments obtain the optimal characteristics by acquiring the characteristics of each third blob. Distinguishing the second blob from the third blob based on sex, and the second and third blobs The acquired characteristics are compared with the optimal characteristics, and the acquired characteristics of the second and third blobs are compared with the optimal characteristics. This includes distinguishing the second blob from the third blob based on a comparison of its suitable characteristics.

[0048] In some embodiments, for each of the second and third blobs, the acquired blob Determining the difference between the characteristic and the optimal characteristic, and determining whether the difference is below a threshold. In response to the determination that the difference is below the threshold, the blob corresponds to one of the second blobs. This includes determining that the first tracker's passive marker - The predefined geometry and the passive meters of the second tracker, which are virtually equivalent. Includes the car's predefined geometry.

[0049] Some embodiments involve emitting an optical signal having varying characteristics from a light source, and the emitted Each of the passive markers generated from the reflection of the optical signal by the passive marker Each emitted light signal, which indicates a blob, is generated by a localizer camera. The process involves receiving the image data and, for each instance of the received image data, the image The characteristics of each blob, as shown by the image data, are obtained and compared with the optimal characteristics. The process involves determining which of the received image data instances is the closest and most optimal. In response to determining the closest received instance of image data, the tracker , assigning the characteristics of the optical signal corresponding to the received image data instance, and Tracker posture within the surgical workspace based on the optical signal characteristics assigned to the tracker. This includes doing.

[0050] Some embodiments involve using a tracker to illuminate the tracker's passive marker. By emitting an optical signal with assigned optical signal characteristics from the light source, the tracker can be connected to the light source. Based on the assigned optical signal characteristics, the tracker's posture is tracked within the surgical workspace. And, corresponding to the emitted optical signal having the optical signal characteristics assigned to the tracker, - Receiving image data generated by the colorizer camera, and the received image data This includes determining the tracker's position within the surgical workspace based on the data. The embodiment is assigned to the tracker to illuminate the tracker's passive marker. The light source emits an optical signal having specified optical signal characteristics, and the light assigned to the tracker is also used. Receiving image data corresponding to an emitted optical signal having signal characteristics, The resulting image data is used to determine the optical signal characteristics assigned to the tracker by the passive marker. The blob of each passive marker of the tracker is generated from the reflection of the emitted light signal. This indicates receiving data and obtaining the characteristics of each blob within the received image data. Then, the characteristics of the blob in the received image data are compared with the optimal characteristics, and the acquired blob To determine whether the characteristics of the blob are not optimal, and the characteristics of the blob obtained based on the comparison. In response to the determination that the behavior was not optimal, the optical signal characteristics assigned to the tracker were adjusted. This includes doing.

[0051] Several embodiments involve the passive tracking of trackers within the surgical workspace based on image data. Determine the position of the boom marker, and based on the determined position of the passive marker, This includes adjusting at least one optical parameter of the colorizer camera. The embodiment compares the acquired blob characteristics with the optimal characteristics to determine if the blob is not the best. To determine whether the blob is the best option based on the comparison, and in response to that, Based on the position determined by the sib marker, at least one optical part of the localizer camera This includes adjusting the meter.

[0052] In some embodiments, based on the determined position of the passive marker, the passive marker By determining the average distance between the localizer camera and the passive marker, Based on the determined position, adjust at least one optical parameter of the localizer camera. To adjust and determine the average distance between the passive marker and the localizer camera. Compared to the previously determined average distance between the passive marker and the localizer camera, To determine the change in the average distance between them, and based on the change in the average distance, localizer camera This includes adjusting at least one optical parameter of the ra. Some embodiments include, Changes in average distance increase the average distance between the passive marker and the localizer camera. By determining whether it indicates a decrease or a rise, based on the change in average distance... Adjusting at least one optical parameter of the localizer camera and changing the distance However, this indicates an increase in the average distance between the passive marker and the localizer camera. Furthermore, the intensity of the light signal emitted from the light source to illuminate the passive marker and / or Increasing the duration and the change in distance affect the passive markers and localizer cameras. In response to the decrease in the average distance between them, a light source was used to illuminate the passive marker. This includes reducing the intensity and / or duration of the light signal emitted from it.

[0053] In some embodiments, the tracker's passive markers can be manually repositioned. Based on the comparison of the acquired characteristics with the optimal characteristics, the tracker's passive markers are... This includes determining and displaying guidance for relocation. Some embodiments include: For each blob, assign the blob to the passive marker corresponding to the blob. Next, we compare the properties obtained from the blob with the optimal properties to determine whether the blob is not the best. Based on the comparison, and in response to the blob being judged not to be the best option, This includes determining and displaying guidance for repositioning corresponding passive markers. .

[0054] In some embodiments, the characteristics of each acquired blob exhibit a first value, and the optimal characteristics are a second value. The values ​​are shown, and for each blob, the blob is assigned to the passive marker corresponding to the blob. The first value shown for the blob is compared to the second value, and the first value of the blob is In response to a comparison that shows the value is greater than the second value, a passive marker corresponding to the blob appears. Determine and display guidance for repositioning the localizer camera away from it. And, in response to the comparison that shows the first value of the blob is less than the second value, the blob corresponds Guidance for repositioning the passive marker toward the localizer camera 18 This includes making a decision and displaying it.

[0055] Some embodiments involve adjusting the electronic aperture time of the localizer camera. Based on the comparison, adjust at least one optical parameter of the localizer camera. This includes the following. In some embodiments, the optimal characteristic exhibits a first value, and the acquired characteristics are combined. , forming a coupled blob property that shows a second value, and comparing the second value with the first value. And, in response to the comparison showing that the second value is greater than the first value, the localizer camera This responds to reducing the electron aperture time and showing that the second value is less than the first value. This includes increasing the electronic aperture time of the localizer camera.

[0056] Some operational conditions include the fact that the localizer camera includes a mechanical shutter, and By adjusting the shutter time of the mechanical shutter, the localizer is compared. - Including adjusting at least one optical parameter of the camera. Several implementations In this case, the optimal characteristic shows the first value, and the acquired characteristics are combined to show the second value in the combined blob. The process involves forming a characteristic, comparing the second value to the first value, and determining if the second value is greater than the first value. In response to comparisons showing that it is also large, the shutter time of the mechanical shutter is reduced. And, in response to the comparison that the second value is less than the first value, the mechanical shutter This includes increasing the shutter time.

[0057] Some embodiments include a localizer camera that includes a mechanical aperture and a mechanical By adjusting the aperture capture size, the localizer camera's settings are compared based on the localizer camera. This includes adjusting at least one optical parameter. Several embodiments are optimal The first characteristic shows a value, and by combining the acquired characteristics, a combined blob characteristic showing a second value is formed. The process involves comparing the second value to the first value, and determining if the second value is greater than the first value. In response to the comparison that shows this, the intake size of the mechanical opening is reduced, and the second value In response to a comparison showing that it is less than the first value, the intake size of the mechanical opening is increased. This includes the act of making something happen. [Brief explanation of the drawing]

[0058] [Figure 1] This describes a surgical system that includes a surgical navigation system for optimizing the tracking of targets within the surgical workspace. [Figure 2] Figure 1 shows the components of the surgical system. [Figure 3] This paper describes a method for optimizing target tracking within a surgical workspace using an active tracker. [Figure 4] This shows image data generated by the localizer camera of the surgical navigation system. [Figure 5] This shows a tracker that can be attached to the target object in the surgical workspace to track such targets. [Figure 6] This shows suboptimal image data generated by the localizer camera of the surgical navigation system. [Figure 7] This shows the optimal image data generated by the localizer camera of the surgical navigation system. [Figure 8] This paper describes a method for optimizing target tracking within a surgical workspace using a passive tracker. [Figure 9A] This shows an active tracker having a repositionable active marker oriented in a first direction. [Figure 9B] Figure 9A shows an active tracker with a repositionable active marker oriented in a second direction. [Figure 10A] This shows a passive tracker with a repositionable passive marker oriented in a first direction. [Figure 10B] Figure 10A shows a passive tracker with a repositionable passive marker oriented in a second direction. [Modes for carrying out the invention]

[0059] Figure 1 shows a surgical system 10 for treating a patient. The surgical system 10 is a medical facility It can be placed in a surgical environment such as an operating room. The surgical system 10 is a surgical navigation system Includes TEM 12 and robotic manipulator 14. The robotic manipulator 14 performs surgery It can be attached to the instrument 16, and the direction of the surgeon and / or surgical navigation system 12, It is configured to manipulate the surgical instrument 16 to treat a target volume of patient tissue. The surgical navigation system 12 allows for the detection of other medical instruments and adjacent anatomical structures during surgery. Remove the target volume of patient tissue while avoiding other targets adjacent to the target volume within the workspace. To do this, the robotic manipulator 14 is made to operate the surgical instrument 16. The doctor, receiving guidance from the surgical navigation system 12, handles the surgical instruments 16. It can be held and manipulated in motion. As some non-limiting examples, surgical instrument 16 is a deburring tool. Tools, electronic surgical instruments, ultrasonic instruments, reamers, impactors, or sagittal saws good.

[0060] During surgical procedures, the surgical navigation system 12 provides location information based on the tracker. It is used to track the orientation (location and orientation) of the target object within the surgical workspace. It is composed of the target volume of the patient's tissue being treated and the obstacles to treatment. The tracked target may include the area surrounding the target volume in which objects may exist. This includes the patient's anatomical structure, surgical instruments such as surgical instruments 16, and the surgeon's hand or fingers, This may include, but is not limited to, the anatomical structures of surgical personnel. Anatomical structures may include soft tissues such as ligaments, muscles, and skin, as well as hard tissues such as bone. This may include: Tracked surgical instruments include retractors, cutting tools, and those used during the surgical procedure. This may include waste management equipment.

[0061] Each target object is configured to transmit an optical signal to the surgical navigation system 12. A tracker can be attached. The surgical navigation system 12 is a tracker. By imaging the Kerr, such optical signals are detected, and based on the imaging, within the surgical workspace... The surgical navigation system 12 is configured to determine the tracker's posture. Next, based on the determined attitude of the tracker and the predetermined positional relationship between the target object and the tracker... It is configured to determine the orientation of the target object within the surgical workspace.

[0062] The surgical navigation system 12 optimizes and tracks the optical signals transmitted from the tracker. It is configured to optimize tracking of targets within the surgical workspace, such as by improving trace accuracy. It may also be used. In particular, the optical signal transmitted from the tracker is used in the surgical navigation system 1. The current position of the tracker relative to the imaging device 2, and / or the current ambient illumination If the situation is not optimal, the navigation system 12 then tracks within the surgical workspace. It can sometimes be difficult to accurately track a car. For example, if the light signal intensity is too low. Next, the navigation system 12 can detect the insufficient portion of the optical signal. However, if the intensity of the light signal is too high, the navigation system 12 then... Undesirable artifacts may occur during imaging. In either case, surgical The navigation system 12 has the ability to accurately indicate the location of the optical signal transmitted from the tracker. This may affect the surgical navigation system 12. This can also affect the tracking accuracy provided. Therefore, the optical signal from the tracker In response to the detection, the navigation system 12 uses the detected optical signal for optimal characteristics. Optical signals transmitted from the tracker to compare numbers and obtain optimal characteristics based on the comparison. It can be configured to be adjustable.

[0063] In response to determining the orientation of the target object in the surgical workspace, the surgical navigation system Stem 12 can display the relative orientation of the target being tracked to assist the surgeon. The surgical navigation system 12 also uses virtual boundaries associated with the target being tracked. The robotic manipulator 14 and / or surgical instrument 16 are controlled and / or controlled It can be approximated. For example, the surgical navigation system 12, based on the target being tracked, It is possible to identify the target volume of patient tissue to be treated and potential obstructions within the surgical workspace. The surgical navigation system 12 then controls the end effect of the surgical instrument (for example, the end effect of surgical instrument 16). The CTEA limits contact of anything beyond the target volume of the patient's tissue being treated, and the patient This can improve safety and surgical accuracy. The surgical navigation system 12 also targets the target site. This can also result in unwanted fragments, caused by unintended contact with other targets. Damage to surgical instruments can be eliminated.

[0064] As shown in Figure 1, the surgical navigation system 12 uses a localizer camera 1 8 and the navigation cart assembly 20 may be included. Bri 20 describes the functions, features, and of the surgical navigation system 12 as described herein. It can accommodate a navigation controller 22 configured to implement the process. The navigation controller 22 is a navigation controller as described herein. This implements the functions, features, and processes of the LA22 and surgical navigation system 12. It may include a programmed processor 24, for example, a localizer camera 18. The received optical-based image data indicates the orientation of the target being tracked within the surgical workspace. The processor 24 can be programmed to convert the data into target object attitude data.

[0065] The navigation controller 22 provides user input for the surgical navigation system 12. It can communicate with the surface 26 during surgery. The user interface 26 is a surgical navigation system. User interaction with the control system 12 and the navigation controller 22 It can be done easily. For example, the user interface 26 is a navigation controller Includes one or more output devices that provide information to the user, such as from 22. The output devices are surgical Includes a display 28 adapted to be located outside the sterile field, including the workspace, and sterilization Includes a display 30 adapted to be located inside the field. Displays 28, 30 are It can be attached to the navigation cart assembly 20 in an adjustable manner. Interface 26 also allows user input to the surgical navigation system 12. It may include one or more input devices for the user to input surgical parameters. It can interact to control the behavior of the navigation controller 22. The input device may include a keyboard, mouse, and / or touchscreen 32. This may include a microphone that enables user input via speech recognition technology.

[0066] The localizer camera 18 displays images showing the attitude of the tracker attached to the target object. By generating data, it becomes easier to identify the posture of the target being tracked within the surgical workspace. It can be configured to do so. Specifically, the localizer camera 18 is used in the surgery It can be communicated with the navigation controller 22 of the navigation system 12, Image data is generated showing the tracker's posture within the surgical workspace, and navigation control... It can be configured to communicate with the 22. The navigation controller 22 then receives the image data Based on the predetermined positional relationship between the tracker and the target object, the tracker is located within the surgical workspace. It can be configured to generate target attitude data that shows the attitude of the target object attached to the tag. ru.

[0067] The localizer camera 18 displays images showing the attitude of the tracker attached to the target object. By generating data, it becomes easier to identify the posture of the target being tracked within the surgical workspace. It can be configured to do so. Specifically, the localizer camera 18 is used for surgical navigation. The system 12 can be communicated to the navigation controller 22, and the surgical workspace Image data showing the tracker's posture inside is generated and sent to the navigation controller 22. It can be configured to communicate. The navigation controller 22 then receives image data, and Based on the predetermined positional relationship between the target object and the tracker, the tracker in the surgical workspace is stretched. It can be configured to generate target attitude data that indicates the attitude of the attached target object.

[0068] The optical sensor 36 may be a one-dimensional or two-dimensional charge-coupled device (CCD). For example... The outer housing 34 has two two-dimensional triangulation for determining the tracking position within the surgical workspace. Sometimes it houses a CCD, or it is used to triangulate the position of the tracker within the surgical workspace. It may also house three primary source CCDs. Furthermore, or instead, a localizer Mera 18 is a complementary metal-oxide-semiconductor (CMOS) active pixel, among other light detection technologies. You may use the technology.

[0069] An optical sensor 36 is selected that has a field of view of the surgical workspace and, ideally, an unobstructed target volume. The localizer camera 18 is mounted on an adjustable arm for selective positioning. This is possible. The localizer camera 18 rotates around the rotary joint. It may be adjustable with at least one degree of freedom, and may be adjustable with two or more degrees of freedom.

[0070] As described above, the localizer camera 18 works in cooperation with multiple trackers 38 to track The position of the target object within the surgical workspace to which the ker 38 is attached can be determined. Generally, Each tracker 38 attached to a target object moves, and the tracker 38 moves along with the target object. - It will be impossible or unlikely that the positional relationship between 38 and 38 will be altered. It may be rigid and inflexible. In other words, the tracker 38 in the surgical workspace and The relationship between the tracker 38 and the target object to which it is attached is the position of the target object within the surgical workspace. It may remain fixed regardless of changes in position. For example, Tracker 38 can be used to track the patient's bones. It may also be firmly attached to surgical instruments such as retractors and surgical instruments 16. In this way, the localizer camera 18 is used to track the tracker 38 within the surgical workspace. In response to determining the position, the navigation controller 22 determines the tracker Based on the position, the tracker 38 can infer the position of the target object to which it is attached.

[0071] For example, when the target volume to be treated is located in the patient's knee region, tracker 38A will track the patient It can be firmly attached to the femur F, and the Tracker 38B can be attached to the patient's tibia T. It can be firmly attached, and the Tracker 38C adheres securely to the surgical instrument 16. Trackers 38A and 38B are incorporated herein by reference. To be attached to the femur F and tibia T as shown in U.S. Patent No. 7,725,162. This is possible. Trackers 38A and 38B also form part of this specification by reference. It can be mounted like the tracker shown in U.S. Patent No. 9,566,120. The Tracker 38C may be integrated into the surgical instrument 16 during manufacturing, or it may be used in surgical procedures. In some cases, it may be attached separately to surgical instrument 16 during preparation.

[0072] Before starting a surgical procedure using the surgical system 10, the target volume of the patient tissue to be treated by the surgical instrument 16 can be defined and / or preoperative images can be generated for the target anatomical structures such as adjacent anatomical structures. For example, when the target volume of the patient tissue to be treated is within the knee region of the patient, preoperative images of the patient's femur F and tibia T can be taken. These images may be based on an MRI scan, a radiological scan, or a computed tomography (CT) scan of the patient's anatomical structures and can be used to create a virtual model of the anatomical structures. Each virtual model of the anatomical structure can include data representing the whole or at least a part of the anatomical structure, and / or three-dimensional mo dels (e.g., point clouds, mesh CAD) showing the part of the anatomical structure to be treated. These virtual models can be provided to and stored in the navigation controller 22 prior to the surgical procedure. In addition to or instead of taking preoperative images, a treatment plan can be created in the operating room from kinematic studies, bone tracking, and

[0073] other methods. These same methods may also be used to generate the virtual mo dels described above. In addition to the virtual models corresponding to the target anatomical structures of the patient, prior to the surgical procedure, the na

[0074] vigation controller 22 can receive and store virtual models for other tracked targets such as surgical instruments and other objects (e.g., the surgeon's hand and / or finger) that may potentially be present within the surgical workspace. The navigation controller 22 can also receive and store virtual models for each tracker 38 disposed within the surgical workspace, and for each tracker 38 and the tracker 38 is associated with It can receive and store the positional relationship between the attached target object and the device. For example, Tracker 38 The relative positions of each object to which the Tracker 38 is attached are determined by the navigation system. Within the Trolla 22, a virtual model of the tracker 38 and a virtual target in a common three-dimensional coordinate system are created. The conceptual models may be represented by relational models that combine them. In this way, within the surgical workspace In response to identifying the attitude of the tracker 38, the navigation controller 22: Tracker 38 tracks the orientation of a target object attached within the surgical workspace. You can refer to the relationship model of KAR38.

[0075] In some examples, each tracker 38 and the target to which the tracker 38 is attached The relative positions between them can be manually indicated via the user interface 26. The positional relationship between each tracker 38 and the target object to which the tracker 38 is attached is , a unique fixed tracker tracked by the navigation system 12 during tracking This can be determined by tracking the target object with a pointer instrument having 38, and navigation The tracking system 12 also tracks the attitude of the target being tracked, using the attached tracker 3. To correlate the attitudes of the 8, the tracker 38 attached to the target is tracked simultaneously. To leave a trace.

[0076] The navigation controller 22 also receives and stores surgical planning data before the procedure. The surgical planning data can identify the anatomical structures of the patient involved in the surgical procedure. It is possible to identify the instruments used in the procedure and track the planned trajectory of the instruments during the surgical procedure. Furthermore, planned movement of patient tissue can be defined.

[0077] During the surgical procedure, the optical sensor 36 of the localizer camera 18 is transmitted from the tracker 38. It can detect optical signals, such as invisible light signals (e.g., infrared or ultraviolet light), and optical The sensor 36 can output an optical-based signal indicating the image plane position of the image detected by the optical signal. The colorizer camera 18 then transmits these signals to the navigation controller 22. It can be configured to integrate with the transmitted image data. The navigation controller 22 is Based on the image data and the predetermined positional relationship between the tracker 38 and the target object, localization is performed. Tracker 38 was attached in a common coordinate system, such as the coordinate system specific to camera 18. It can be configured to generate target object attitude data that indicates the position of the target object.

[0078] The surgical instrument 16 can form part of the end effector of the robotic manipulator 14. The robot manipulator 14 has a base 40 and several links 4 extending from the base 40. 2 and several active joints for moving the surgical instrument 16 relative to the base 40 Link 42 may include a series arm structure as shown in Figure 1, a parallel arm structure. A structure, or other suitable structure, can be formed. The robot manipulator 14 allows the user to The robot manipulator 14 grasps the end effector, (for example, directly, and The force / torque sensor readings that trigger the active drive of the robot manipulator 14 (via) the ability to operate in manual mode to cause movement of surgical instrument 16. The manipulator 14 also allows surgical instruments 16 to be prepared by the robotic manipulator 14. The tool is moved along a defined tool path (for example, the action of the robot manipulator 14) The tib joint 44 may include a semi-autonomous mode (operated to move the surgical instrument 16 without requiring force / torque on the end effector from the user). An example of operation in semi-autonomous mode is also described in U.S. Patent No. 9,119,655 to Bowling, et al., which is incorporated herein by reference. A separate tracker 38 can also be attached to the base 40 of the robotic manipulator 14 to track movement of the base 40 by the localizer camera 18. (not requiring force / torque on the end effector from the user) to move the surgical instrument 16). An example of operation in semi-autonomous mode is also described in U.S. Patent No. 9,119,655 to Bowling, et al., which is incorporated herein by reference. A separate tracker 38 can also be attached to the base 40 of the robotic manipulator 14 to track movement of the base 40 by the localizer camera 18. A separate tracker 38 can also be attached to the base 40 of the robotic manipulator 14 to track movement of the base 40 by the localizer camera 18. A separate tracker 38 can also be attached to the base 40 of the robotic manipulator 14 to track movement of the base 40 by the localizer camera 18.

[0079] Similar to the surgical navigation system 12, the robotic manipulator 14 can house a manipulator controller 46 that includes a processor 48 programmed to implement the functions, features, and processes of the robotic manipulator 14, or more particularly, the manipulator controller 46 described herein. For example, the processor 48 can be programmed to control the operation and movement of the surgical instrument 16, such as in the direction of the surgical navigation system 12, through movement of the links 42. Similar to the surgical navigation system 12, the robotic manipulator 14 can house a manipulator controller 46 that includes a processor 48 programmed to implement the functions, features, and processes of the robotic manipulator 14, or more particularly, the manipulator controller 46 described herein. Similar to the surgical navigation system 12, the robotic manipulator 14 can house a manipulator controller 46 that includes a processor 48 programmed to implement the functions, features, and processes of the robotic manipulator 14, or more particularly, the manipulator controller 46 described herein. Similar to the surgical navigation system 12, the robotic manipulator 14 can house a manipulator controller 46 that includes a processor 48 programmed to implement the functions, features, and processes of the robotic manipulator 14, or more particularly, the manipulator controller 46 described herein. For example, the processor 48 can be programmed to control the operation and movement of the surgical instrument 16, such as in the direction of the surgical navigation system 12, through movement of the links 42. Similar to the surgical navigation system 12, the robotic manipulator 14 can house a manipulator controller 46 that includes a processor 48 programmed to implement the functions, features, and processes of the robotic manipulator 14, or more particularly, the manipulator controller 46 described herein. For example, the processor 48 can be programmed to control the operation and movement of the surgical instrument 16, such as in the direction of the surgical navigation system 12, through movement of the links 42. Similar to the surgical navigation system 12, the robotic manipulator 14 can house a manipulator controller 46 that includes a processor 48 programmed to implement the functions, features, and processes of the robotic manipulator 14, or more particularly, the manipulator controller 46 described herein. For example, the processor 48 can be programmed to control the operation and movement of the surgical instrument 16, such as in the direction of the surgical navigation system 12, through movement of the links 42.

[0080] During the surgical procedure, the manipulator controller 46 can be configured to determine the desired location to move the surgical instrument 16, such as based on navigation data received from the navigation controller 22. Based on this determination and information regarding the current position of the surgical instrument 16, the manipulator controller 46 can be configured to determine the range within which the link 42 needs to move to reposition the link 42 to move the surgical instrument 16 from the current position to the desired position. Data indicating where the link 42 should be repositioned can be sent to the robot. During the surgical procedure, the manipulator controller 46 can be configured to determine the desired location to move the surgical instrument 16, such as based on navigation data received from the navigation controller 22. Based on this determination and information regarding the current position of the surgical instrument 16, the manipulator controller 46 can be configured to determine the range within which the link 42 needs to move to reposition the link 42 to move the surgical instrument 16 from the current position to the desired position. Based on this determination and information regarding the current position of the surgical instrument 16, the manipulator controller 46 can be configured to determine the range within which the link 42 needs to move to reposition the link 42 to move the surgical instrument 16 from the current position to the desired position. Based on this determination and information regarding the current position of the surgical instrument 16, the manipulator controller 46 can be configured to determine the range within which the link 42 needs to move to reposition the link 42 to move the surgical instrument 16 from the current position to the desired position. Based on this determination and information regarding the current position of the surgical instrument 16, the manipulator controller 46 can be configured to determine the range within which the link 42 needs to move to reposition the link 42 to move the surgical instrument 16 from the current position to the desired position. The joint motor controller controls the active joint 44 of the manipulator 14. It can be transferred to a motor (for example, one that controls each motor). In response, the joint motor controller moves link 42 according to the data. The device can be configured to move, thereby moving the surgical instrument 16 to a desired position.

[0081] Referring to Figure 2, the localizer camera 18 is connected to the optical sensor 36 and the navigation system. A localizer controller 52 is communicatively coupled to the gate controller 22. This may include: During surgical procedures, the localizer controller 52 operates the optical sensor 36. The optical sensor 36 then displays the detected optical signal received from the tracker 38, or More specifically, the optical beam indicates the image plane position of the optical sensor 36 in which such an optical signal was detected. It can be configured to generate a signal.

[0082] Each tracker 38 has a predetermined marker 54 that directs the light signal towards the optical sensor 36. It may include defined geometry. In some embodiments, each tracker 38 is , receiving current from the power supply to generate an optical signal and emitting it to the optical sensor 36, at least three The active tracker 38 may have an active marker 54. The Tracker 38 can be powered by its built-in battery, or the navigation system It may also have lead wires for receiving power through the power controller 22. For example, the active marker 54 is a light that is invisible (e.g., infrared or ultraviolet light). It may be a light-emitting diode (LED) that transmits the signal toward the optical sensor 36.

[0083] Each active tracker 38 also provides an active marker 54, and navigation It may include a tracker controller 56 that is communicatively coupled to the controller 22. The directional controller 56 controls the navigation controller 22, etc. The speed and order in which the markers 54 are fired can be controlled. For example, tracker 38 tracker controllers 56 control the active markers 5 of each tracker 38 4 is launched at different speeds and / or times by the navigation controller 22 This makes it easy to distinguish between tracker 38 and / or marker 54. In some examples, The navigation controller 22 communicates with each tracker controller 56 via bidirectional infrared communication. A channel is formed to control the timing of the firing of the active marker 54, and non-volatile data Write / read data to Active Tracker 38 or Active Tracker 38 You can retrieve the status of the attached target object (e.g., battery level, broken LED). .

[0084] The sampling rate of the optical sensor 36 is determined by the optical sensor 36 detecting continuously emitted marks. This is the speed at which the optical signal from the car 54 is detected. The optical sensor 36 is 100Hz or higher, The sampling frequency is preferably 300 Hz or higher, or most preferably 500 Hz or higher. It may have a sampling rate. For example, the optical sensor 36 has a sampling rate of 8000 Hz. It can have.

[0085] The tracker 38 is rather active than it is emitted from the localizer camera 18. Passive trackers 38, including passive markers 54, such as reflectors that reflect the light, It may be included. Specifically, the localizer camera 18 uses invisible light (for example, infrared light). It may include a light source 58 that illuminates the tracker 38 with light such as ultraviolet light. Marker 54 is Next, the light detectable by the optical sensor 36 is reflected toward the localizer camera 18. It can be reconfigured to be reconfigured. In some examples, the surgical workspace is a variety of spaces within the surgical workspace. A combination of an active tracker and a passive tracker 38 is used to track targets. It may include.

[0086] In response to the optical sensor 36 receiving an optical signal from the tracker 38, the optical sensor 36 This shows the attitude of the tracker 38 toward the localizer camera 18, correspondingly localized An optical base plate attached to the tracker 38 indicating the attitude of the target is shown to the Izer camera 18. The signal can be output to the localizer controller 52. In particular, each optical sensor 36 The optical signal from tracker 38 is detected, and accordingly, within the sensor area where each optical signal is detected... An optically based signal that indicates the pixel coordinates of a one-dimensional or two-dimensional sensor region. It may include the "image plane" (also called the "image plane"). Therefore, the optical output from each optical sensor 36 The base signal is generated by the optical sensor 36 from the detected light signal. The image can represent 8 images, and each image corresponds to the position within the image plane of the optical sensor 36 where the light signal was detected. The blob in the pixel coordinates is included. The detection position of each optical signal is determined when the optical signal reaches the optical sensor 36. Therefore, it may be based on the received angle, and thus detected toward the optical sensor 36. This corresponds to the position of marker 54 in the surgical workspace, which emitted the light signal.

[0087] The optical sensor 36 can communicate optical-based signals to the localizer controller 52, - The colorizer controller 52 is based on the optical-based signal received from the optical sensor 36. Next, image data for each optical sensor 36 is generated in the same manner, and such image data This can be shown in the navigation controller 22. Image data for the optical sensor 36 is light The image and / or image plane represented by the optical-based signal received from the sensor 36 The navigation controller 22 then indicates the location based on the received image data. Tracker attitude data showing the attitude of the tracker 38 relative to the localizer camera 18 It can be generated. More specifically, the navigation controller 22 generates based on image data. This allows us to determine the position of the tracker 38 in the coordinate system of the localizer camera 18. For example, The navigation controller 22 simultaneously generates image data for each optical sensor 36. The blobs corresponding to the same marker 54 within the data are related to each other, and the images are related to each other. Based on the positions of the connected blobs and the predetermined positional relationship between the optical sensors 36, the localizer - Triangulate the position of marker 54 relative to camera 18, and determine the position of marker 5 of each tracker 38. Assign the triangulated position to the predefined geometry of 4, and then use the localizer camera. It can be configured to determine the attitude of each tracker 38 relative to Ra 18.

[0088] Subsequently, the navigation controller 22, based on the tracker attitude data, A target indicating the attitude of the target object attached to the tracker 38 relative to the kalyzer camera 18. It can generate object attitude data. Specifically, the navigation controller 22 generates tracker -Retrieve the stored positional relationship between the 38 and the target to which the tracker 38 is attached. This allows us to apply these positional relationships to the tracker pose data, and then localize the data. The attitude of the target fixed to the tracker 38 relative to the Mera 18 can be determined. Instead, The localizer controller 52 receives optical-based signals generated by the optical sensor 36. Based on the number, tracker attitude data and / or target attitude data are determined, and further For processing, tracker attitude data and / or target attitude data are sent to the navigation system. It can be configured to transmit data to the Torola 22.

[0089] As described above, the navigation controller 22 is a navigation system as described herein. The functions, features, and processes of the control controller 22 are programmed to perform It may include a processor 24. The navigation controller 22 also includes a processor It may include a memory 60 operably coupled to 24 and a non-volatile storage device 62.

[0090] Processor 24 is a microprocessor, microcontroller, digital signal programmer. Rosser, microcomputer, central processing unit, field-programmable gate array I. Programmable logic devices, state machines, logic circuits, analog circuits, digital circuits Based on one or more devices selected from the path, or operation instructions stored in memory 60 This may include any other device that manipulates signals (analog or digital). Memory 6 0 represents read-only memory (ROM), random access memory (RAM), and volatile memory. Non-volatile memory, static random-access memory (SRAM), dynamic Random access memory (DRAM), flash memory, cache memory, or information A single memory device, including but not limited to any other device capable of storing information. It may include one or more memory devices. The non-volatile storage device 62 is a hard drive, Optical drives, tape drives, non-volatile solid-state devices, or devices that permanently store information. One or more persistent data storage devices, such as any other device, that can store the data permanently. It may include.

[0091] The non-volatile storage device 62 is used for one or more applications and / or for example, location tracking. The system may include modules such as Engine 66, Surgical Navigator 68, and Optimizer 70. It can store 64 software files. Each application or module can use Java, C, C++, C#, Objective C, Fortran, Pascal, Java S The individual or combined versions of crypt, Python, Perl, and PL / SQL From a variety of programming languages ​​and / or technologies, including but not limited to these, It can be realized by a separate set of computer executable instructions that are piled up or interpreted. The processor 24 operates under the control of the software 64 stored in the non-volatile memory device 62. It can work. In particular, the processor 24 loads into memory 60, enabling software 64. It can be configured to execute computer executable instructions. The processor 24 executes them. When executed, the computer executable instruction is sent to the processor 24 as described herein. To implement the configured functions, features, and processes of the Vision Controller 22 It can be configured as follows.

[0092] The non-volatile storage device 62 of the navigation controller 22 also It can store data 74 that facilitates the operation of the Torola 22. In particular, the navigation control The software 64 of the roller 22 accesses the data 74 at runtime as described herein. This facilitates the implementation of the functions, features, and processes of the navigation controller 22. It can be configured as follows. For example, the data 74 stored in the non-volatile memory device 62 is a model day This may include data 76, surgical planning data 78, and optimal blob data 80.

[0093] Model data 76, as described above, is a virtual representation of potential obstacles such as the surgeon's hand or fingers. Virtual models of anatomical structures important for surgical procedures, including models, and surgical procedures It may include virtual models of the surgical instruments being used. Model data 76 also includes trackers. The predetermined geometry of the 38 markers 54, and each tracker 38, and the tracker 38 attached This may include a virtual model of each tracker 38 showing its positional relationship with the attached target object. The model data 76 also includes image data generated by the localizer camera 18. Based on this, the position of the marker 54 in the coordinate system specific to the localizer camera 18 is determined by triangulation. To enable this, the localizer camera 18 uses an optical system within a coordinate system specific to it. This may indicate configuration parameters of the localizer camera 18, such as the position of sensor 36.

[0094] Surgical planning data 78 identifies the anatomical structures and target volumes of the patient involved in the surgical procedure. It is possible to identify the instruments used in surgical procedures and to plan the movement of instruments between surgical procedures. The trajectory and planned movement of patient tissue can be defined. Optimal blob data 80 is obtained from the received light. To optimize the signal and improve tracking accuracy, data received from marker 54 of tracker 38 is used. The optimal characteristics of the blob generated by the localizer camera 18 from the optical signal can be shown. .

[0095] Software 6 that can be executed by the processor 24 of the navigation controller 22 Referring again to 4, the positioning engine 66 receives from the localizer camera 18 Based on image data, etc., the attitude of the tracker 38 toward the localizer camera 18 It can be configured to generate the tracker attitude data shown. The positioning engine 66 also, Based on the tracker attitude data and positional relationships shown in Model Data 76, etc., The attitude of the tracker 38 toward the riser camera 18 is as follows: It can be configured to convert the attitude of a target object attached to the tracker 38.

[0096] The surgical navigator 68 provides surgical guidance based on target posture data and surgical planning data 78. It can be configured to provide a dance. For example, the surgical navigator 68 provides a navigation function. Displays 28 and 30 show the relative attitude of the tracked target, and other tracked targets A robotic maneuver is used to move the surgical instrument 16 while avoiding undesirable contact with objects. It can be configured to issue control commands to the purger 14.

[0097] The optimizer 70 processes the image data generated by, for example, the localizer camera 18. Based on the comparison with the optimal blob data 80, marker 54 of tracker 38... By adjusting the optical signal transmitted to the localizer camera 18, the surgical workspace It can be configured to optimize tracking of targets within the system. An example of such optimization is shown below. It will be explained in more detail.

[0098] Each of the manipulator controller 46 and the localizer controller 52 is Furthermore, the processor, memory, and the controls described herein during execution by the processor Data and software configured to implement the functions, features, and processes of Laura. It may include a non-volatile memory device that includes [a specific component].

[0099] Figure 3 shows how to adjust the optical signal emitted from tracker 38 to improve tracking accuracy. This presents a method 100 for optimizing target tracking within the surgical workspace. 100 is an active tracker 38 containing an active marker 54 within the surgical workspace. Available when present. Method 100 is used when running software 64, etc., for surgical navigation. The gate system 12, or more specifically, the navigation controller 2 This can be easily done by method 2.

[0100] In block 102, tracker 38 is tracked within the surgical workspace where it is desired to be tracked. It can be placed relative to the target object. In particular, the Tracker 38 can be attached to each target object. Each tracker 38 includes an active marker 54 of a predefined geometry. Lacquer 38, or more specifically, marker 54 on each tracker 38, and tracker 38 The positional relationship between the target object to which the sticker is attached is determined by the non-volatile nature of the navigation controller 22. It can be stored as model data 76 in the storage device 62.

[0101] In block 104, the image data is directed towards the navigation controller 22, etc. - It can be generated by the colorizer camera 18. In particular, the navigation controller 22 The tracker controller is configured to emit optical signals, such as invisible light signals, from the active marker 54. A control signal to instruct the controller 56 is sent to the tracker controller 56 of the tracker 38. It is reliable. At the same time, the navigation controller 22 emits from the active marker 54. A localizer controller operates the optical sensor 36 to detect the incoming light signal. Control signals to instruct the roller 52 can be communicated to the localizer controller 52. Each of the sensors 36 emits light that, in accordance with this, shows a blob for each active marker 54. A blob can generate a signal based on the optical signal received from the active marker 54. It has pixel coordinates corresponding to the position on the image plane of the optical sensor 36. Localizer control -Ra 52 receives the optical base signal from the optical sensor 36, and as described above, optical base Image data corresponding to the signal can be communicated to the navigation controller 22.

[0102] Figure 4 shows the active marker 54 of the exemplary tracker 38 shown in Figure 5. From the optical signal obtained, a two-dimensional optical sensor 36 of the localizer camera 18 can be generated. The image data 120 is shown. As shown in the illustrated example, the image data 120 is a blob 1 A two-dimensional image 122 containing 24 can be shown. Each of the blobs 124 is shown in Figure 5. The light signal is generated from one of the different active markers 54 of lacquer 38. The pixel coordinates of each blob 124 in image 122 correspond to the optical signals of blob 124. The number corresponds to the position on the image plane of the detected optical sensor 36. For example, blob 124 is A The active marker 54A can generate the optical signal, and the blob 124B is active. It can be generated from the optical signal emitted from the IV marker 54B, and so on.

[0103] Referring again to Figure 3, in block 106, the localizer camera 18 generates Each blob 124 of the generated image data is used in the navigation code when the positioning engine 66 is running. Tracker 38 Active Marker, compatible with Blob 124, etc. It can be assigned to car 54. For example, tracker controller 56 of tracker 38 Acting at different times and / or speeds, such as the direction of the navigation controller 22 The IV marker 54 can be configured to fire, and the localizer camera 18 is fired. It can be configured to generate different image data for each active marker 54. Therefore, the navigation controller 22 processes each instance of the received image data. Rob 124 is linked to the active marker 54 which is emitted when the image data is generated. It can be related to this.

[0104] As a further example, for instance, if the active marker 54 is fired simultaneously, the navigation The navigation controller 22 is predetermined, and the non-volatile of the navigation controller 22 Based on the positional relationship between optical sensors 36 which can be stored as model data 76 in the storage device 62 By applying epipolar geometry to image data, etc., the optical sensor 36 Regarding the blob 124 corresponding to the same marker 54 in the simultaneously generated image data, They can be configured to be related to each other. Subsequently, the navigation controller 22 local The three-dimensional position of each group of interrelated blobs 124 relative to the riser camera 18 is determined in three dimensions. It can be configured to perform angle measurement. The navigation controller 22 then controls each tracker 3 The model data 76 showing the predetermined geometry of the marker 54 of the 8 is applied to the triangulated position. Using this method, the triangulated position corresponding to each marker 54 of the tracker 38 is identified, and the appropriate It can be configured to allocate blobs.

[0105] For example, a tracker 38 having six predefined geometric markers 54 Assuming it is located within the surgical workspace, the navigation controller 22 has six triangles It can be configured to identify each possible combination of the surveyed location. Regarding the combination, the navigation controller 22 then performs triangulation of the combination. The geometry formed by the position is predefined for the marker 54 of the tracker 38. It can be configured to determine whether it matches the geometry. If it matches, then Navi The gait controller 22 uses the triangulated position corresponding to the blob, and other combinations. The relationship between the triangulated position and one of the 54 predefined geometric markers is defined by By adapting it to the marker 54 of tracker 38 that generated the blob, etc., The system is configured to assign each blob used to generate the triangulated position of the alignment. It is possible.

[0106] As mentioned above, the blob was assigned to marker 54 of tracker 38, which generated the blob. In response, the navigation controller 22 has the tracker 38 attached to its eye It can be configured to determine the pose of the target object. In particular, if it has not already been calculated, the navigation The control controller 22 determines the position of the blob assigned to marker 54 in the image data. , and based on the predetermined positional relationship between the optical sensors 36, the localizer camera 18 The tracker 38 can be configured to triangulate the position of each marker 54. The position of marker 54 relative to localizer camera 18 is the same as the position of marker 54 relative to localizer camera 18. The 38 driver then displays its attitude, and the navigation controller 22 then, as described above, Based on the triangulation position of car 54 and the predetermined positional relationship between tracker 38 and the target object Next, the tracker 38 attached to the target object relative to the localizer camera 18. It can be configured to determine posture.

[0107] The following block of Method 100 uses active marker 54 to improve tracking accuracy. This may involve optimizing the light signals emitted from the device, particularly active markers. If 54 emits a suboptimal light signal, as a result the optical sensor 36 will produce a suboptimal blob This may generate data that could similarly lead to suboptimal or inaccurate tracking. For example, the intensity of the light signal emitted from the active marker 54 is determined by the current lighting conditions. The items, and the current distance between the active marker 54 and the localizer camera 18 If it is too low, then the localizer camera 18 tracks the active marker 54. The optical signal cannot be properly detected for the purpose. Instead, the light emitted from the active marker 54 If the intensity of the light signal is too high, the light signal will then be transmitted to one or more pixels on the image plane of each optical sensor 36. This may cause oversaturation of the active motor of the navigation controller 22. Unwanted artifacts in image data affect the ability to accurately track the car 54. This may cause problems.

[0108] As an example, Figure 6 shows an action that causes oversaturation of one or more pixels of the optical sensor 36. An exemplary example of what can be generated by the optical sensor 36 from the light signal emitted from the active marker 54. Image data 132 is shown. As shown in the example, image data 132 is Blooming Saturation artifacts such as smear artifacts 134 and smear artifacts 136 are caused by supersaturation. It may contain undesirable artifacts. The navigation controller 22 activates the localizer camera 18. The three-dimensional position of the boomer 54 may be calculated inaccurately, and this is also active. Marker 54 may lead to inaccurate tracking of the corresponding target. Conversely, Figure 7 shows A The optical sensor 36 can generate the optimal optical signal emitted from the active marker 54. An exemplary image data 138 is shown. As shown in the illustrated example, the image data 138 is This may show a blob 124N generated from an optical signal that is circular and has uniform intensity.

[0109] Referring again to Figure 3, in block 108, one of the image data blobs 124 is selected. In block 110, one or more properties of the selected blob 124 can be obtained. For example The navigation controller 22, via the optimizer 70, selects blocks such as The strength characteristics, and / or size characteristics, and / or shape characteristics of B124 can be identified. The degree characteristic is the optical signal received by the optical sensor 36 corresponding to the selected blob 124. It can accommodate the size, the highest pixel intensity of Blob124, and the average pixel intensity of Blob124. It can be determined as degrees, or as the first moment of blob 124. The size characteristics are determined by blob 1 It can accommodate 24 areas and is determined by counting the number of pixels that form blob 124. The shape characteristics of the selected blob 124 can correspond to the periphery of the selected blob 124, and This can be determined using a ledge detection algorithm.

[0110] In block 112, the acquired characteristics can be compared with the corresponding optimal characteristics, and in block 114, Based on the comparison, we can determine whether the blob is optimal. For more details... The non-volatile storage device 62 of the navigation controller 22 contains one or more optimal blobs. It can store optimal blob data 80 that shows the characteristics. The optimal blob characteristics are determined by the surgical navigation system 12, which generates the blob at marker 5. The properties of the blob can be adapted to the ability to precisely locate 4, and therefore the blob The characteristics obtained can be compared to determine whether it is optimal for navigation purposes. For example, the optimal blob data 80 is the optimal intensity characteristic for comparison with the acquired intensity characteristics. Sex, optimal size characteristics for comparison with acquired size characteristics, and / or acquired shape It can demonstrate optimal shape characteristics for comparison with other properties.

[0111] Each optimal blob characteristic is the one that can be considered optimal when it is the corresponding acquired blob characteristic. A value or a range of optimal values ​​may be indicated. For example, and without limitation, the optimal intensity characteristic is 8 0%, 85%, or 90%, or less than 75% of the full intensity value of the pixels of the optical sensor 36. It may show a single intensity value that is above and below 95%. The complete intensity of the pixels of the optical sensor 36 The degree value may correspond to the maximum light intensity that a given pixel can accommodate before supersaturation occurs. If the strength characteristics are greater than or less than the optimal strength value shown, the acquired strength The characteristics may not always be considered optimal.

[0112] Instead, the optimal intensity characteristics are such as 75% of the full intensity value of the pixels of the optical sensor 36. Low intensity threshold, and high intensity threshold, such as 95% of the full intensity value of the pixels of the optical sensor 36. In some cases, it may indicate the range of the optimal value defined by [the method]. In this case, the acquired intensity characteristics are more If the intensity is above the lower intensity threshold and below the higher intensity threshold, the acquired intensity characteristics are considered optimal. It is possible. As an alternative, non-limiting example, the optimal intensity characteristics are of the pixels of the optical sensor 36. In cases where the intensity range is 60% to 95%, 80% to 95%, or 85% to 95% of the full intensity value. There is a match. The optimal size characteristics are similar to the area where the acquired characteristics can be considered optimal. This may indicate a range of values ​​or area values.

[0113] The optimal shape characteristics may indicate the optimal shape with the optimal area (for example, a circle). , the optimal ratio value (e.g., 1) or a lower ratio threshold (e.g., 0.8) and higher This may indicate a range of optimal ratio values ​​defined by a ratio threshold (e.g., 1.2). To compare the shape characteristics obtained from a given blob with the optimal shape characteristics, navigation code The controller 22 aligns the acquired blob shape with the optimal shape characteristics. , the area of ​​the acquired shape that extends outside the optimal shape, the optimal shape that extends outside the acquired shape It can be configured to calculate the ratio of the area to the area of ​​a given blob. This calculated ratio is the area of ​​a given blob. This may be considered in order to define, at least partially, the acquired shape characteristics. Optimal shape If the characteristic shows a single optimal ratio value, then the acquired shape characteristic is then calculated to be the optimal ratio. It can be considered optimal when it is equal to the appropriate ratio value. Alternatively, the optimal shape characteristics are optimal. When indicating a range of ratio values, the next step is to use the acquired shape characteristics as a ratio threshold where the calculated ratio is lower. It can be considered optimal if it is above the specified threshold and below a high ratio threshold.

[0114] It was determined that the acquired blob characteristics were not the best (the "No" branch in block 114). In response, in block 116, an active marker 54 corresponding to blob 124 is emitted The optical signal is sent to the active marker 54, which is optimal or near optimal for future tracking. Future tracking of marker 54, such as to generate an optical signal that leads to the creation of blob characteristics. It can be adjusted for this purpose. More specifically, the intensity of the light signal emitted from the active marker 54. The degree and / or duration can be adjusted. For example, the navigation controller 22 can Active marker for future tracking of marker 54, such as via optimizer 70 The intensity and / or duration of the optical signal emitted from 54 is transmitted to the tracker controller 56. The control signal to be adjusted is sent to the tracker controller 56 for the active marker 54. It can be configured to communicate. More specifically, the acquired blob characteristics correspond to the optimal blob. If it is greater than one or more optimal values ​​defined by the Rob characteristic, then the navigation code The controller 22 controls the intensity and / or holding of the optical signal emitted from the active marker 54. The tracker controller 56 receives a control signal to reduce the duration. It can be configured to communicate with 6. Alternatively, the acquired blob characteristics will be the corresponding optimal blob. If it is less than one or more optimal values ​​defined by the characteristics, then the navigation control Roller 22 detects the intensity and / or duration of the optical signal emitted from the active marker 54. A control signal is sent to the tracker controller 56 to increase the interval. It can be configured to communicate.

[0115] The intensity of the light signal emitted from the active marker 54 is marked on the active marker 54. It may be proportional to the magnitude of the applied current. Therefore, from the active marker 54 If the intensity of the emitted light signal should be increased, it is then passed through the tracker controller 56. Based on the transmitted control signal, the tracker controller 56 will determine future tracking repetitions. The current applied to the active marker 54 can be increased. Conversely, the active marker 5 If the intensity of the optical signal emitted from 4 should be reduced, then tracker controller 5 The control signal communicated to 6 allows the tracker controller 56 to track future tracking repetitions. The current applied to the active marker 54 can be reduced. The duration of the light signal emitted from 4 is the duration that current is applied to the active marker 54. It may be proportional to time, which similarly results in shorter or longer durations. It can be adjusted for that purpose.

[0116] The range over which the intensity and / or duration of the emitted light signal is increased or decreased is obtained. It may be proportional to the difference between the characteristic and the optimal characteristic. Furthermore, or instead, navigation The controller 22 adjusts the intensity of the emitted optical signal to optimize the acquired blob characteristics. and / or to determine the range to increase or decrease the duration of the PID loop and / Alternatively, it can be configured to implement a stored lookup table.

[0117] In some examples, the navigation controller 22 takes precedence over other types and retrieves It can be configured to optimize specific types of blob characteristics. For example, given blob 1 In case 24, the navigation controller 22 uses the acquired intensity characteristics of the blob 124 to the maximum Initially, it can be configured to optimize. In response to the optimized strength characteristics obtained, the navigation The gating controller 22 may be configured to optimize the size characteristics obtained next. In response to the optimized size characteristics obtained, the navigation controller 22 It can then be configured to optimize the shape characteristics acquired next. During the iteration of the transformation, the navigation controller 22 prioritizes the blob characteristics of the highest priority. It can be configured to retrieve and check whether the type is optimal. Next, the navigation controller 22, as described above, is used for future iterations. To optimize the type of lob characteristics, the corresponding active marker 54 emits It can be configured to adjust the optical signal. The type of blob characteristic with the highest priority is determined to be optimal. If so, the navigation controller 22 then determines the next highest priority blob characteristic. It can be configured to retrieve and check whether the type is optimal, and so on.

[0118] The acquired blob characteristics were determined to be optimal (the "Yes" branch in block 114). or adjust the optical signal emitted from the corresponding active marker 54 in block 116. In response to this, in block 118, the image data is still matched to the optimal blob characteristics. It is possible to determine whether or not it contains additional blobs 124 that are not included. (Block 118 "Yes" branch), then method 100 returns to block 108 and adds Select blob 124, and you may repeat blocks 110 to 116 as needed. If not (the "No" branch in block 118), then method 100 returns to block 104. This allows for the generation of further image data of tracker 38 within the surgical workspace, and so on. Therefore, the optical signal emitted from the given marker 54 may change over time. Yes, and may require multiple adjustments over the course of a given surgical procedure.

[0119] In some examples, the navigation controller 22 optimizes each blob 124 separately. Rather than converting it, the image data blob 124 corresponding to the same active marker 54 They can be configured to optimize each other. As mentioned above, by the localizer camera 18 The generated image data may include image data from each optical sensor 36. Each instance is a blob for each active marker 54 in the surgical workspace, This indicates that an optical signal is emitted when image data is acquired. The same A can be determined as described above. For each set of blobs in the image data corresponding to Active Marker 54, Navigation The control controller 22 can be configured to acquire at least one characteristic of each blob. The navigation controller 22 then uses the same type (e.g., strength, size, shape) Combine the acquired characteristics and average the values ​​indicated by the acquired characteristics of the type. This can be configured to form a type of combined blob property of a set of blobs, for example. For example, the navigation controller 22 acquires the intensity characteristics of the corresponding blob 124. The combined blob strength characteristics of the corresponding set of blobs 124 are obtained by averaging the intensity values. Determine the area and average the area indicated by the size characteristics obtained for the corresponding blob 124. By doing so, the combined blob size characteristics of the corresponding set of blobs 124 are determined, and the corresponding This is addressed by averaging the ratios shown by the shape characteristics obtained from Blob 124. It can be configured to determine the combined blob shape characteristics of the set of blobs 124.

[0120] The navigation controller 22 then determines the corresponding optimal blob characteristic for each coupled blob characteristic. It can be configured to determine whether the binding blob properties are not the best compared to the properties. Otherwise, the navigation controller 22 then, as described above, the active marker The control signal that causes the tracker 38 to adjust the optical signal emitted from -54 is used in the coupled blob characteristics. It can be configured to communicate with a tracker 38 that includes a corresponding active marker 54.

[0121] For this reason, the navigation controller 22 also, as described above, of a certain type It can be configured to prioritize optimizing the coupled blob properties. For example, the same active For a set of blobs 124 corresponding to marker 54, the navigation controller 22 First, determine the type of bonded blob property that has the highest priority (e.g., blob strength). Then, by comparing the coupled blob characteristics with the corresponding optimal characteristics, we determine whether the coupled blob characteristics are not the best. It can be configured to determine which is best. Based on the comparison, the best priority coupling blob characteristic is best. In response to its judgment that it was not good, the navigation controller 22, as described above, The optical signal emitted from the active marker 54 corresponding to the coupled blob characteristics is transmitted to tracker 3 The control signal to adjust unit 8 can be communicated to tracker 38.

[0122] Conversely, in response to determining that the coupling blob characteristics were the best based on the comparison, Navigation The motion controller 22 then selects the next highest priority type (e.g., size, shape). Get the properties of each blob in the set, combine these obtained properties, and then determine the next highest priority. Further bond blob properties of the rank type are formed, and further bond blob properties are next high Further coupled blob properties are not optimal compared to the optimal properties corresponding to the priority type. It can be configured to determine whether or not. Based on the comparison, further coupling blob properties are best. In response to its determination that this is not the case, the navigation controller 22, as described above, The optical signal emitted from the active marker 54 corresponding to the blob 124 is tracked by a tracker. The control signal to adjust the -38 can be configured to be communicated to the tracker.

[0123] In some alternative examples, the navigation controller 22 specifies the optical sensor 36 Active markers such as blob 124 shown in the image data generated by one of the selected devices. Based on the blob properties obtained from only one blob, blob 124, corresponding to -54, each The optical signal emitted from the active marker 54 can be configured to be optimized.

[0124] In some cases, different Tracker 38s can be optimized for different optimal blob characteristics. For this reason, the optimal blob data 80 is one or more optimal for different trackers 38. This can show different sets of blob characteristics. For example, the optimal blob data 80 is one trace Optimal intensity characteristics of 90% of the full intensity value of the pixels of the optical sensor 36 for cker 38 , the optimal intensity of 80% of the full intensity value of the pixels of the optical sensor 36 of another tracker 38. The characteristics can be demonstrated, and the same applies to the following.

[0125] Under this configuration, one or more trackers 38 correspond to the active markers 54. In response to receiving image data indicating B124, the navigation controller 22 Based on one or more optimal characteristics specific to the Tracker 38, the active of each Tracker 38 Blob 124 can be assigned to blob marker 54. More specifically, blob To determine whether 124 corresponds to a given tracker 38, the navigation code The controller 22 incorporates the characteristics acquired by the blob 124 and the corresponding features specific to the tracker 38. Determine the difference between the optimal characteristics and the desired characteristics, and check if the difference is less than a threshold (e.g., 5% of the corresponding optimal characteristics). It can be configured to determine whether or not. If it is below the threshold, then the navigation control -Ra22 determined that Blob124 corresponds to Tracker38, and as mentioned above, Tracker - Supports blobs 124, based on 38 markers and 54 predefined geometries. Configure tracker 38 to assign blob 124 to active marker 54. Cut.

[0126] In some cases, such as when multiple types of properties are obtained for each blob 124, The navigation controller 22 uses the characteristics acquired from the blob 124 and the tracker 38 Each difference between the corresponding optimal characteristic specific to the threshold determined based on the corresponding optimal characteristic is (For example, by determining whether it is less than 5% of the corresponding optimal characteristic, It can be configured to determine whether b124 corresponds to a given tracker 38. In addition, the navigation controller 22 uses the characteristics acquired from the blob 124 and the tracker Determine the mean or sum of squares of the difference between the corresponding optimal characteristics specific to 38, and such It can be configured to determine whether the value is below a threshold. If it is below the threshold, then the next step is to The navigation controller 22 determined that the blob 124 corresponds to the tracker 38, As mentioned above, the active marker 54 of tracker 38 corresponds to blob 124. It can be configured to assign B124.

[0127] In some cases, the navigation controller 22 is the same activator as described above. One or more for a given set of blobs 124 identified as corresponding to blob marker 54 Determine the coupling blob characteristics, and compare these coupling blob characteristics with the corresponding optimal characteristics described in the paragraph above. By comparison, determine whether a set of blobs 124 corresponds to a given tracker 38. It can be configured in this way. If it is compatible, the navigation controller 22 then controls the blob 12 It was determined that the set of 4 corresponds to tracker 38, and as mentioned above, the markers for tracker 38 Trackers corresponding to Blob 124, such as those based on 54 predefined geometries. It can be configured to assign a set of 124 blobs to 38 active markers 54.

[0128] When tracker 38 is optimized for different optimal characteristics, the marker 54 is virtually equivalent. Multiple trackers 38 with specific geometries may be present within the surgical workspace. In other words, assuming the same posture and the same luminescence characteristics within the surgical workspace, these The predetermined geometry of the marker 54 of the lacquer 38 is transmitted to the navigation controller 22. Therefore, it may be impossible to distinguish between them. Consequently, the most changing tracker 38 By optimizing for specific characteristics, the navigation system 12 can track such trackers -38 can be distinguished.

[0129] Based on the optimal characteristics specific to Tracker 38, the active marker of a given Tracker 38 In response to the decision to use Blob 124 for -54, Navigation Controller 2 As described above, step 2 tracks the attitude of the tracker 38 and the optimal characteristics specific to the tracker 38. Based on this, the optical signal emitted from the active marker 54 of the tracker 38 is optimized. It can be configured in this way.

[0130] In some cases, the navigation controller 22 is also or instead used in surgery. Based on the determined position of the active marker 54 in the workspace, the tracker 38 The optical signal emitted from the IV marker 54 can be configured to be optimized. More specifically, The navigation controller 22, as described above, uses image data to navigate within the surgical workspace. It can be configured to determine the position of each active marker 54 in the surgical workspace. Based on the determined position and / or optimal characteristics of the tactile marker 54, the navigation code The controller 22 receives the optical signal emitted from at least one of the active markers 54. Communicate at least one control signal to tracker 38 so that tracker 38 can adjust it. It can be configured.

[0131] For example, for each of the active markers 54 of a given tracker 38, navigator The kinetic controller 22 controls one of the blobs 124 that correspond to the active marker 54. By comparing the characteristics obtained above with the optimal characteristics, Blob 124 is the best, as stated above. It can be configured to determine whether or not it is active. The blob corresponding to the active marker 54 In response to determining that 124 was not the best option, the navigation controller 22 responded by activating Light emitted from the active marker 54 based on the position determined by the active marker 54 The system can be configured to communicate a control signal to the tracker 38 that causes the tracker 38 to adjust the signal. ru.

[0132] More specifically, the navigation controller 22 controls a given active marker 54 The currently determined position is the previously determined position of the active marker 54 in the surgical workspace. In comparison, the distance between the active marker 54 and the localizer camera 18 changes. The system determines whether or not the light signal has changed, and if so, the light signal emitted from the active marker 54 is released. It can be configured to adjust. For example, the navigation controller 22 can adjust the distance when Does this indicate an increase in the distance between the active marker 54 and the localizer camera 18? It can be configured to determine whether the change in distance indicates an increase or a decrease. The navigation controller 22 then receives the optical signal emitted from the active marker 54. A control signal is sent to the tracker 38 to increase the intensity and / or duration. It can be configured to trust that if the distance decreases, the navigation controller 22 will then... The intensity and / or duration of the light signal emitted from the active marker 54 is tracked by a tracker. The tracker can be configured to communicate a control signal that reduces the output to 38. The range over which the intensity and / or duration of the effect increases or decreases is proportional to the change in distance. There is. Furthermore, or instead, the navigation controller 22 is based on the change in distance. Then, determine the range over which to increase or decrease the intensity and / or duration of the emitted light signal. To implement a PID loop and / or a stored lookup table, It can be configured.

[0133] The navigation controller 22 also, or instead, activates based on comparison. By configuring at least one of the boom markers 54 to be repositioned, the active Based on a comparison of the characteristics obtained from Blob 124 corresponding to Bummarker 54 against the optimal characteristics The light signal emitted from at least one of the active markers 54 in the surgical workspace It can be configured to be adjustable. For more details, refer to Figures 9A and 9B, each tracker -38 requires at least one active marker 54 of tracker 38 to be repositioned This may include actuator 92. For example, as shown in the illustrated example, given tracker Each of the 38 markers 54 is positioned to target the active marker 54 of the tracker 38 The marker 54 is configured to rotate relative to the main body 94, and is fixed to the marker 54. It may include a dedicated actuator 92. Marker 54 is connected to localizer camera 18. As the target is further aimed, more light is emitted from the active marker 54. The optical signal can be detected by the localizer camera 18, and the marker 54 is localizer camera When the target is aimed at a distance greater than Mera 18, an emission is emitted from Active Marker 54. Even a weak light signal can be detected by the localizer camera 18.

[0134] Each actuator 92 of the given tracker 38 controls the tracker control of the tracker 38 The roller 56 is connected to the tracker 38 via the tracker controller 56. It can be operated in this way. Therefore, the navigation controller 22 controls the tracker 38. The tracker 38 is activated by communicating control signals to the tracker controller 56. Marker 54 can be repositioned, and tracker controller 5 of tracker 38 Similarly, 6 operates the actuator 92 fixed to the active marker 54. The orientation of the marker 54 relative to the localizer camera 18 may be changed accordingly. For example, Figures 9A and 9B show the navigation controller 22 as illustrated in the active map. Since the angle 54 is facing the direction indicated by arrow 96A, it is also facing the direction indicated by arrow 96B. This example demonstrates how to change direction to face the desired direction.

[0135] Therefore, the blob 124 in the received image data corresponding to the given tracker 38 For each of these, the navigation controller 22 retrieves one or more blobs 124. By comparing the characteristics with the corresponding optimal characteristics, as described above, it can be determined that Blob 124 is not the best. It can be configured to determine whether or not Blob 124 is the best. In response to this, the navigation controller 22 further... For repetition, the active marker 54 corresponding to blob 124 is linked to tracker 38. The system can be configured to communicate a control signal to the tracker 38 to relocate it.

[0136] As an example, the characteristics obtained for each blob 124 are shown, and the corresponding optimal characteristics are Assuming that it shows at least one optimal value, for each blob 124, navigation The controller 22 determines at least one of the obtained values ​​shown for blob 124. Compare the obtained value to the optimal value to determine whether it is greater than at least one optimal value. It can be configured as follows: The value obtained for blob 124 is greater than at least one optimal value. In response to the comparison that shows its size, the navigation controller 22 is relative to the blob 124. The corresponding active marker 54 is moved away from the localizer camera 18 to the tracker 38. The control signal to rearrange can be configured to be communicated to tracker 38. Conversely, blob 12 In response to the comparison that shows the value obtained for 4 is less than at least one optimal value, The navigation controller 22 uses an active marker 54 corresponding to the blob 124. The tracker sends a control signal to the lacquer 38 to reposition it toward the localizer camera 18. It can be configured to communicate with 38.

[0137] The active marker 54 is directed towards the localizer camera 18 or localizer The range by which the camera 18 is repositioned may be proportional to the difference between the acquired characteristics and the optimal characteristics. Furthermore, or instead, the navigation controller 22 uses the acquired characteristics and optimal characteristics Based on the difference, the PID loop determines the range to reposition the active marker 54. It can be configured to implement a lookup table containing and / or stored data.

[0138] Figure 8 shows how adjusting one or more optimal parameters of the localizer camera 18 can be done. This presents another method200 for optimizing target tracking within the surgical workspace. 200 indicates that a passive tracker 38, including a passive marker 54, is present in the surgical workspace. It can be used when running software 64, etc. The control system 12, or more specifically, the navigation controller 22, Therefore, it can be made easier. For efficiency, the blocks of method 100 already described above are The specific details of the block in Method 200 will not be repeated in the following paragraphs.

[0139] In block 202, tracker 38 can be placed relative to the target being tracked. Marker 38 may include a predetermined geometry of the passive marker 54 in block 204. Tracker 38 may be illuminated. For more details, see Navigation Control The RA22 emits an optical signal from the light source 58 into the surgical workspace to the localizer controller 52. The control signal to be transmitted can be configured to be sent to the localizer controller 52. In the 206, the image data is reflected by the light signal emitted by the passive marker 54. It can be generated based on. Specifically, the localizer controller 52 generates the emitted light signal Each of the passive markers 54 generated from the reflection by the passive marker 54 of unit Image data from each optical sensor 36 can be generated, representing an image of the corresponding blob 124. The pixel coordinates of each blob 124 in the image data from each optical sensor 36 are determined when a reflection is detected. This may correspond to the position on the image plane of the optical sensor 36. Block 208 is shown in the image data. Each blob 124 corresponds to the blob 124, using the triangulation and fitting methods described above. It can be assigned to the passive marker 54 of tracker 38.

[0140] In block 210, one or more properties of each blob 124 can be obtained. For example, Navigation The ion controller 22 assigns strength characteristics and / or size characteristics to each blob 124, and / or it can be configured to acquire shape characteristics. Then, in block 212, the acquired The Rob characteristics are optimally stored in the non-volatile memory device 62 of the navigation controller 22. It can be compared with one or more optimal blob characteristics, such as the blob characteristics shown in blob data 80. In block 214, a determination is made based on the comparison to determine whether blob 124 is optimal. It is possible.

[0141] The navigation controller 22 acquires the same type (e.g., strength, size, shape). By combining the blob properties of the (shape) to form a combined blob property of the characteristic type, The system can be configured to compare the obtained blob characteristics with the optimal blob characteristics. For example, blob strength Regarding type characteristics, the navigation controller 22 provides coupling for intensity type characteristics. As a blob characteristic, the average of the intensity values ​​shown by the acquired intensity characteristics of blob 124 was calculated. It can be configured to calculate. Regarding blob size type characteristics, the navigation control Ra22 is the acquisition of blob 124 as a coupled blob characteristic for blob size type characteristics. It can be configured to calculate the average area indicated by the size characteristics. Regarding the type characteristics, the navigation controller 22 is for blob shape type characteristics As the coupled blob characteristics, the average of the ratios shown by the shape characteristics obtained for blob 124 is used. It can be configured to perform calculations. Subsequently, the navigation controller 22 performs coupling blob special By comparing the properties with their corresponding optimal blob properties, the coupled blob properties are optimal as described above. It can be configured to determine whether or not it is the case.

[0142] It was determined that the given type of blob characteristics is not optimal (the "No" branch in block 214). In response to this, in block 216, at least one optical part of the localizer camera 18 The lamellar can be adjusted. For example, the light signal emitted from light source 58 can be adjusted to be optimal. Or, optical signals that lead to the generation of a type of coupled blob characteristics closer to the optimal type, future tracking In the return signal, it can be adjusted to transmit to passive marker 54. More specifically, The navigation controller 22 controls the current applied to the light source 58 as described above. A control signal to be adjusted by the localizer controller 52 is communicated to the localizer controller 52. By doing so, the intensity and / or duration of the light signal emitted from the light source 58 can be adjusted. It can be configured to be organized.

[0143] As an example, the coupled blob characteristics are defined by one or more corresponding optimal blob characteristics. If the value is greater than the optimal value above, the navigation controller 22 then controls the light source 5 The intensity and / or duration of the optical signal emitted from 8 is controlled by the localizer controller 52. The system can be configured to communicate a control signal to reduce the signal to the localizer controller 52. Conversely, the coupled blob characteristics are defined by one or more optimal blob characteristics. If the value is less than the specified value, the navigation controller 22 then emits from the light source 58. The intensity and / or duration of the optical signal are increased by the localizer controller 52. The control signal can be configured to be communicated to the localizer controller 52.

[0144] The range over which the intensity and / or duration of the emitted light signal is increased or decreased is obtained. It may be proportional to the difference between the characteristic and the optimal characteristic. Furthermore, or instead, navigation The controller 22 adjusts the intensity of the emitted optical signal to optimize the acquired blob characteristics. and / or to determine the range to increase or decrease the duration of the PID loop and / Alternatively, it can be configured to implement a stored lookup table.

[0145] As described above in relation to the active marker 54, the navigation controller 22 prioritizes optimizing specific types of coupled blob properties over other types. It can be configured as follows. For example, the navigation controller 22 first optimizes the coupling strength characteristics. It can be configured to make it. In response to the optimized bond strength characteristics, the navigation code The controller 22 can be configured to optimize bond size characteristics. In response to this, the navigation controller 22 optimizes the coupling shape characteristics. It can be configured in this way. During each optimization iteration, the navigation controller 22 is at the best To get and check whether the type of coupling blob property for priority is optimal. It can be configured as follows. If this is not optimal, the navigation controller 22 will then be configured as described above. To optimize the type of coupled blob characteristics, the localizer camera 18 has at least It can also be configured to adjust another optical parameter. The highest priority is the coupled blob characteristic. If the type is determined to be optimal, the navigation controller 22 then proceeds to the next high priority. It can be configured to determine whether the type of priority coupling blob property is optimal, and below It is the same.

[0146] In some examples, the navigation controller 22 receives a changing light signal from the light source 58. By emitting this signal, the passive tracker 38 is configured to track and optimize autonomously. Each emitted light signal corresponds to a different tracker 38 within the surgical workspace. It has at least one characteristic. In other words, it has an emission corresponding to different trackers 38. Each emitted optical signal corresponds to an emitted optical signal from another tracker 38 in the surgical workspace. Unlike other characteristics, such as light intensity characteristics, light duration characteristics, or both, Both can possess one characteristic.

[0147] Based on the changing posture of the tracker 38 within the surgical workspace, the emitted light signal is used in response to The characteristics of blob 124 generated by one of the trackers 38 are as follows for the same optical signal The properties of blob 124 generated by other trackers 38 may vary. In response to this, different trackers 38 respond optimally to the emitted optical signals with different characteristics. Blobs can be generated. For example, one tracker 38 can generate a light signal emitted from a light source 58. When the light source 58 is at 90% of its full intensity level, the optimal blob 124 can be produced, and Tracker 38 detects that the light signal emitted from light source 58 is at the full intensity level of light source 58. When the success rate is 80%, the optimal blob 124 can be generated, and so on.

[0148] Therefore, the navigation controller 22 controls the changing intensity in the range of 60% to 95%. The light source 58 emits an optical signal having changing characteristics, such as having a degree level, and the emitted The passive marker 54 generated from the reflection of the optical signal by the passive marker 54 Image data corresponding to each emitted optical signal representing each blob 124 is localized. -By alternately receiving from camera 18, the tracker 38 is tracked, It can be configured to optimize tracking of the lacquer 38. Each instance of received image data The blob 124 is generated by the passive marker 54 of each tracker 38. In some cases, however, the Blob 124 corresponds to the passive marker 54 of the Tracker 38. Based on the posture of the tracker 38 in the surgical workspace and the characteristics of the emitted optical signals, on the other hand, The Tracker 38's passive marker 54 is more optimally suited to the Blob 124 than the Tracker 38. There are cases where this is the case.

[0149] Therefore, for each tracker 38, the navigation controller 22 controls the tracker Each blob in each received instance of the image data corresponding to marker 54 of car 38 24 characteristics are acquired, and the acquired characteristics are compared with the optimal characteristics to determine the value of the received image data. It can be configured to determine which of the chests of drawers is the closest and optimally located. In response to determining the instance of the image data, the navigation controller 22 The tracker 38 assigns the characteristics of the optical signal corresponding to the received image data instance. Based on the optical signal characteristics assigned to the tracker 38, the tracker in the surgical workspace is identified. It can be configured to perform future iterations that track the attitude of the CK38.

[0150] Therefore, each tracker 38 can be assigned a specific optical characteristic, and given the tracker To track the attitude of tracker 38, the navigation controller 22 controls tracker 3 By emitting an optical signal having optical characteristics assigned to 8, for example, to tracker 38 It can be configured to emit an optical signal from a specific light source 58. Navigation controller 22 Next, as described above, the received image of the light signal emitted by tracker 38. Based on the data shown in blob 124, it is configured to track the attitude of tracker 38. can.

[0151] The navigation controller 22 also controls the lighting assigned to one of the trackers 38. Based on the characteristics and one or more stored optimal characteristics, the passive characteristics of one of the trackers 38 Place blob 124, which corresponds to tracker 54, on the passive marker 54 of the other tracker 38. It can be configured to distinguish it from the corresponding blob. More specifically, given tracker 38 An image corresponding to the light signal emitted from the light source 58, having at least one corresponding characteristic. In response to receiving the data, the navigation controller 22 uses the image data to... Obtain at least one characteristic of each blob 124 shown, and obtain the obtained characteristic of blob 124 By comparing the properties with one or more optimal characteristics and distinguishing blobs 124 based on the comparison, , blob 124 corresponding to a given tracker 38 to another tracker 38 in the surgical workspace It can be configured to distinguish it from others.

[0152] For example, for each of the blobs 124 shown by the image data, navigation The controller 22 calculates the average or sum of squares of the differences, thereby determining the blob 12 Determine the difference between one or more acquired characteristics of 4 and one or more corresponding optimal characteristics. It can be configured. Then the navigation controller 22 determines that the difference is less than the threshold. The system determines whether this is the case, and if it is below the threshold, blob 124 corresponds to the given tracker 38. It can be configured to determine that... It was determined that the difference between each of the acquired characteristics of B124 and the corresponding optimal characteristics was below the threshold. In response to this, the blob 124 is configured to determine that it corresponds to a given tracker 38. Cut.

[0153] In response to distinguishing Blob 124 from the given Tracker 38, the navigation The controller 22 optimizes the tracking of the given tracker 38 as described above. Configured to adjust the characteristics of the emitted optical signal assigned to a given tracker 38. Yes, in the next iteration of tracking and / or optimizing tracking of a given tracker 38. The navigation controller 22 can be configured to utilize the adjusted characteristics. As described above, the tracker 38 detects light emitted from the light source 58, which has changing properties. When tracked and optimized using the signal, substantially equivalent predetermined values ​​of the passive marker 54 Multiple trackers 38 with the same geometry may be present within the surgical workspace.

[0154] In some examples, the navigation controller 22 also tracks the surgical workspace. Based on the tracked posture of car 38, at least one light from localizer camera 18 The learning parameters may be configured to be adjusted. For more details, see the navigation control. Roller 22, based on the received image data as described above, controls each passive in the surgical workspace. The position of marker 54 can be determined, and the image data is also within the surgical workspace. The Tracker 38's attitude can be displayed. Based on the determined attitude, the navigation control Ra22 adjusts at least one optical parameter of the localizer camera 18. It can be configured as follows. For example, the characteristics obtained from blob 124 can be compared to the optimal characteristics, and blob 124 In response to determining that this was not the best course of action, the navigation controller 22 performed a passive maneuver. Based on the position determined by the camera 54, at least one optical of the localizer camera 18 It can be configured to allow adjustment of parameters.

[0155] In one example, the navigation controller 22 controls the passive of one or more trackers 38. Determine the average distance between marker 54 and localizer camera 18, and use this average difference to determine the P Compared to the previously calculated average distance of the active marker 54, the passive marker 54 and the - By being configured to determine the change in the average distance between the colorizer camera 18 Based on the position determined by the passive marker 54, the localizer camera 18 is less Both can be configured to adjust a single optical parameter. Navigation Controller 2 Next, based on the change in average distance, at least one optical of the localizer camera 18 It can be configured to allow adjustment of parameters.

[0156] For example, the navigation controller 22 detects changes in average distance and uses a passive marker 5. Does this indicate an increase or decrease in the average distance between camera 4 and localizer camera 18? It can be configured to determine whether the change in distance affects the passive marker 54 and the localizer. - In response to showing an increase in the average distance between camera 18, the navigation controller 22 is the intensity of the light signal emitted from the light source 58 to illuminate the passive marker 54 and It can be configured to increase the duration or / or frequency. Conversely, changes in distance affect the passive function. In response to showing a decrease in the average distance between car 54 and localizer camera 18, the navigation The gate controller 22 emits light from the light source 58 to illuminate the passive marker 54. It can be configured to reduce the intensity and / or duration of the emitted optical signal. The range over which the intensity and / or duration of the optical signal is increased or decreased is proportional to the change in average distance. For example, the navigation controller 22 may use the average distance Based on the change in distance, the intensity of the emitted optical signal is adjusted to optimize the acquired blob characteristics. and / or to determine the range to increase or decrease the duration of the PID loop and / Alternatively, it can be configured to implement a stored lookup table.

[0157] In some examples, in addition to adjusting the light signal emitted from the light source 58, or the light source Instead of adjusting the light signal emitted from 58, the navigation controller 22 The localizer camera optimizes the blob 124 generated from marker 54. It can be configured to adjust 18 other parameters. For example, the navigation control La22 compares one or more acquired characteristics of Blob124 to one or more optimal characteristics. Based on this, the electronic aperture time of each optical sensor 36 of the localizer camera 18 is adjusted. It can be configured as follows. More specifically, the navigation controller 22 is optical as described above. From the image data generated for each sensor 36, for each optical sensor 36, and for each coupled... Regarding the blob properties, one or more bonded blob properties are formed, and the bonded blob properties indicate The value may be configured to be compared with the optimal value indicated by the corresponding optimal blob characteristic. In response to a comparison that shows the value of the coupled blob characteristic is greater than the optimal value, navigation The controller 22 is configured to reduce the electron aperture time of the corresponding optical sensor 36. In response to a comparison that indicates the value of the coupled blob characteristic is below the optimal value, the navigation code The controller 22 can be configured to increase the electron aperture time of the corresponding optical sensor 36. ru.

[0158] As a further example, the localizer camera 18 also provides mechanical sensors to each optical sensor 36. This may include shutters and / or mechanical openings, and the navigation controller 22 This is based on comparing one or more acquired characteristics of blob 124 with one or more optimal characteristics. This adjusts the shutter time of the mechanical shutter and / or each optical sensor 36 The mechanical aperture can be configured to adjust the intake size. For more details, see Navigation As described above, the control controller 22 receives the image data generated for the optical sensor 36. From there, one or more coupled blob characteristics of each optical sensor 36 are formed, and each coupled blob characteristic The value shown by the coupled blob characteristics is then shown by the corresponding optimal blob characteristics. It can be configured to compare with the optimal value. It shows that the value of the coupled blob characteristic is greater than the optimal value. In response to the comparison, the navigation controller 22 uses the mechanical shutter of the optical sensor 36 The shutter time and / or the size of the mechanical aperture are designed to reduce the shutter time and / or the size of the mechanical aperture. In response to a comparison that shows the value of the bonded blob characteristic is below the optimal value, the navigation The controller 22 controls the shutter time of the mechanical shutter of the optical sensor 36 and / Alternatively, it can be configured to increase the size of the mechanical opening.

[0159] Referring again to Figure 8, each of the coupled blob characteristics is optimal (block 214 " In response to the decision to "Yes" (branch), or in block 216, the localizer camera In response to adjusting at least one of the 18 optical parameters, method 200 blocks Returning to the 204, tracker 38 again via light source 58 of localizer camera 18 Lighting may be used.

[0160] In some examples, the passive marker 54 of each tracker 38 can be manually repositioned. In addition, the navigation controller 22 also obtains the most accurate characteristics of the blob 124. Based on comparisons of suitable characteristics, the tracker 38 is smaller than the display 28, 30, etc. At the very least, it determines and displays guidance for repositioning one passive marker 54. It can be configured as follows. For example, referring to Figures 10 and 10B, the given tracker 38 Each passive marker 54 is used by the user to localize the camera. The tracker aims towards 18 and away from the localizer camera 18. - Allows the passive marker 54 to be manually rotated relative to the main body 94 of 38. It can be mounted in a rotatable socket 98.

[0161] Therefore, for each of the blobs 124 indicated by the received image data, The navigation controller 22 connects to the passive marker 54 corresponding to the blob 124. Assign Rob 124, and one or more acquired properties of Rob 124 to one or more optimal pairs By comparing it to the optimal characteristics for the corresponding situation, we determine whether Blob 124 is not the best, and based on the comparison... And in response to the decision that the Blob 124 was not the best option, a passive system corresponding to the Blob 124 was developed. The system can be configured to determine and display guidance for repositioning the boom marker 54.

[0162] For example, the characteristics obtained for each blob 124 show the obtained values, and the corresponding optimal characteristics are optimal Assuming that it indicates a value, for each blob, the navigation controller 22 will Assign Blob 124 to passive marker 54, which corresponds to 124, and then... The obtained value shown can be configured to be compared with the optimal value. In response to a comparison that shows the value obtained is greater than the optimal value, the navigation controller 22 This involves moving the passive marker 54 corresponding to blob 124 away from the localizer camera 18. It can be configured to determine and display guidance for rearranging. Conversely, blob 12 In response to a comparison indicating that the value obtained for 4 is less than the optimal value, the navigation control The Torola 22 is a localizer camera with a passive marker 54 that corresponds to the Blob 124. It can be configured to rearrange towards 18.

[0163] Some surgical environments use both passive trackers 38 and active trackers 38. It can be incorporated. In this case, the navigation controller 22 is an active tracker. The above process for optimizing Tracker 38, and optimizing Passive Tracker 38 It can be configured to implement both the above-mentioned process for navigation. The controller 22 uses the above process to connect the active and passive trackers 3 8 can be configured to alternate between optimizing and tracking. Alternatively, navigating The frequency controller 22 sends different frequencies to the marker 54 of the active tracker 38. The light signal is emitted from the light source 58 as a number, and the type of tracker 38 By reducing interference between them and improving the distinction between types of tracker 38, and / Alternatively, utilize a changing set of optimal blob characteristics for one or more different tracker types. By making such distinctions even easier, both process tracking and optimization can be improved. It can be configured to implement both methods simultaneously.

[0164] Generally, routines performed to implement the manner described above are operated by the operating system. Will it be implemented as part of the system, or as a specific application or component? A program, object, module, or sequence of instructions, or those Regardless of whether it is implemented as a subset of computer programs, this specification refers to them as "computer programs". It is sometimes called "program code" or simply "program code". Program code is In computers, it resides in various memories and storage devices at various times, and When read and executed by one or more processors within the database, it will be executed on that computer. , actions necessary to perform actions and / or elements that embody various aspects of this specification. It may include computer-readable instructions that cause the execution of various aspects of the operation of the specification. Computer-readable program instructions are, for example, assembly language, or one or more programmed language instructions. Source code or object code created in any combination of programming languages It can be either D or D.

[0165] The program embodied in any of the applications / modules described herein RAM code can be distributed individually or collectively as program products in various different formats. In some cases, the program code is used to cause the processor to implement the features described in the specification. Distributed using computer-readable storage media containing computer-readable program instructions. Cut.

[0166] Computer-readable storage media, which are inherently non-temporary, contain computer-readable instructions and data. Any method for storing information such as structure, program modules, or other data Volatile and non-volatile, as well as removable and non-removable, are implemented by technology. This may include tangible media. Computer-readable media include random access memory (RAM), read Dedicated memory for data extraction (ROM), erasable PROM (EPROM), electrically erasable P ROM (EEPROM), flash memory, or other solid-state memory Recycle technology, portable compact disc read-only storage device (CD-ROM), or other Optical memory devices, magnetic cassettes, magnetic tapes, magnetic disk memory devices, or other magnetic storage devices It can be used to store or to store desired information, and can be read by a computer. This may further include any other media that can be taken. Computer-readable storage media are temporary. A signal (for example, radio waves or other propagating electromagnetic waves, transmitted through a transmission medium such as a waveguide) Interpreted as the electromagnetic waves that propagate, or the electrical signals transmitted through a wire. It should not be done. Computer-readable program instructions are not stored in computer-readable storage media. To a computer, another type of programmable data processing device, or another device, Alternatively, it can be downloaded to an external computer or external storage device via a network. .

[0167] Computer-readable program instructions stored on computer-readable media are computer-readable. , other types of programmable data processing devices, or other devices that function in a specific way It may also be used to instruct something to be stored in a computer-readable medium. The commands are functions specified in flowcharts, sequence diagrams, and / or block diagrams. To manufacture products that include instructions for performing actions. Computer program instructions are one or more. A series of calculations are performed by instructions executed via the above processor, as described herein. Functions and / or functions specified in the flowchart, sequence diagram, and / or block diagram shown Alternatively, it can be provided to one or more processors to implement the action.

[0168] In certain alternative forms, flowcharts, sequence diagrams, and / or block diagrams are specified. The functions and / or actions performed can be rearranged without departing from the scope of the present invention. They can be processed sequentially and / or simultaneously. Furthermore, flowcharts, sequences Any figures and / or block diagrams may be more numerous than those illustrated herein. It may contain a small number of blocks.

[0169] The terms used herein are for illustrative purposes only and are not intended to be restrictive. Not illustrated. When used herein, the singular forms "a", "an", and "th" are used. The term "e" is intended to include the plural form unless the context clearly indicates otherwise. The terms "comprising)" and / or "includes" are used herein. When used, the characteristics, integers, steps, actions, elements, and / or components described It specifies existence, but one or more other properties, integers, steps, actions, elements, components, and It will be further understood that this does not exclude the existence or addition of such groups. Furthermore, "includes," "having," and "has" "with", "comprise of", or These modifications may be used in either a form for carrying out the invention or in the claims. To that extent, such terms are used in a similar manner to the term "comprising". It is intended to be comprehensive.

[0170] Various examples have been provided, and these examples have been explained in considerable detail, but the attached Limiting or restricting the scope of the claims in any way to such detail is the applicant's This is not the intention. Additional benefits and modifications will be readily apparent to those skilled in the art. Therefore, this Broader aspects of the invention are illustrated and described in detail, representative apparatus and methods. This is not limited to the exemplary examples provided. Therefore, the applicant's general concept of the invention or Such deviations from details may occur without deviating from the scope.

Claims

1. Navigation system for optimizing the tracking of a target object within the surgical workspace. And, A tracker positioned relative to the target object, wherein this tracker is positioned within the surgical workspace. A system with predefined geometry active markers to track the car's attitude. Lacquer and, In cooperation with the aforementioned tracker, the optical signal emitted from the active marker is generated The configuration generates image data showing each of the blobs of the active markers. The localized camera, A controller that is communicatively coupled to the tracker and the localizer camera. There is, Each of the blobs is assigned to the active marker corresponding to the blob, We obtained the characteristics of each blob. The acquired characteristics are compared with the optimal characteristics. Based on the above comparison, the emission from at least one of the active markers A signal is transmitted to the tracker containing at least one control signal that causes the tracker to adjust the optical signal. do The controller is configured as follows: A navigation system equipped with [this feature].

2. The at least one control signal communicated to the tracker is the active marker - The intensity or duration of the optical signals emitted from at least one of the above The navigation system according to claim 1, wherein both of the trackers are adjusted.

3. For each of the aforementioned blobs, the controller, The acquired characteristics of the blob are compared with the optimal characteristics to determine whether the blob is the best. To determine whether or not, Based on the above comparison, in response to the determination that the blob is not the best, the blob The optical signal emitted from the corresponding active marker is adjusted by the tracker. The control signal is communicated to the tracker. The navigation system according to claim 1 or 2, configured as follows.

4. The acquired characteristics of each blob show a first value, and the optimal characteristics show a second value, and each blob Regarding Rob, the aforementioned controller The first value shown for the blob is compared with the second value, In response to the comparison showing that the first value of the blob is greater than the second value, The intensity or duration of the optical signal emitted from the active marker corresponding to the blob A control signal is sent to the tracker to reduce the duration or both. Communicate, In response to the comparison that the first value of the blob is less than the second value, The intensity of the optical signal emitted from the active marker corresponding to the blob or A control signal is sent to the tracker to increase the duration or both. Communicate A navigation system according to any one of claims 1 to 3, configured as described above.

5. The acquired characteristic is the blob strength characteristic, and the optimal characteristic is the optimal blob strength characteristic. The navigation system according to any one of claims 1 to 4.

6. The acquired characteristic is the blob size characteristic, and the optimal characteristic is the optimal blob size characteristic. The navigation system according to any one of claims 1 to 4.

7. The acquired characteristics are blob shape characteristics, and the optimal characteristics are the optimal blob shape characteristics. The navigation system according to any one of claims 1 to 4.

8. The acquired characteristic is defined as the first acquired characteristic, and the optimal characteristic is defined as the first optimal Defined as suitable characteristics, the controller Obtain one or more second characteristics from among the one or more of the blobs, The one or more acquired second characteristics are compared with the second optimal characteristics. Based on the comparison of the one or more acquired second characteristics with respect to the second optimal characteristic , at least one of the one or more active markers corresponding to the one or more blobs At least one control signal is used to cause the tracker to adjust the optical signal emitted from the tracker. Communicate to the tracker A navigation system according to any one of claims 1 to 4, configured as described above.

9. The acquired characteristic is defined as the first acquired characteristic, and the optimal characteristic is defined as the first optimal Defined as suitable characteristics, the controller The first characteristics obtained from the blob are compared with the first optimal characteristics of the blob. Determine whether the first characteristic obtained is not the best, Based on the above comparison, it was determined that the first characteristic obtained of the blob was not the best. In response to the above, the optical signal emitted from the active marker corresponding to the blob A control signal to be adjusted by the tracker is communicated to the tracker. Based on the above comparison, it was determined that the first characteristic obtained of the blob was the best. In response to that, The second characteristic of the blob is obtained, The second characteristic obtained of the blob is compared with the second optimal characteristic of the blob. Determine whether the second characteristic obtained is not the best, Based on the above comparison, it was determined that the second characteristic obtained from the blob was not the best. In response to this, the optical signal emitted from the active marker corresponding to the blob A control signal is communicated to the tracker to cause it to adjust. The navigation system according to any one of claims 1 to 4 and 8 is configured as follows: Stem.

10. The first characteristic obtained is the blob strength characteristic, and the second characteristic obtained is the blob strength characteristic. The navigation system according to claim 8 or 9, which is an IZ characteristic or a blob shape characteristic. Hmm.

11. The image data corresponds to the first image of the first optical sensor of the localizer camera. Image data and second image data corresponding to the second optical sensor of the localizer camera. The first and second image data are each emitted from the active marker. The blobs of each active marker generated from the optical signals are shown, and the controller 、 A first blob corresponding to the same active marker is obtained from the first image data, and the second blob is obtained from the first image data. The blob is identified from the second image data, The first characteristics of the first blob and the second characteristics of the second blob are obtained. The acquired first characteristic and the acquired second characteristic are combined to form a combined blob characteristic. accomplish, The coupling blob characteristics are compared with the optimal characteristics to determine if the coupling blob characteristics are not the best. To determine whether to go, Based on the above comparison, in response to the determination that the coupling blob characteristics are not optimal, The optical signals emitted from the active markers corresponding to the first and second blobs A control signal to be adjusted by the tracker is communicated to the tracker. The navigation system according to claim 1 or 2, configured as follows.

12. The first and second characteristics obtained are the strength characteristics obtained, and the optimal characteristics are the optimal b The navigation system according to claim 11, which has a lob strength characteristic.

13. The aforementioned optimal blob intensity characteristics are 75% or more of the complete intensity value of the localizer camera. The navigation system according to claim 5 or 12, which also exhibits an intensity value of 95% or less.

14. The aforementioned coupled blob characteristic is defined as the first coupled blob characteristic, and the optimal characteristic is the first Defined as the optimal characteristic, the controller The third characteristic of the first blob and the fourth characteristic of the second blob are obtained, The third and fourth characteristics obtained above are combined to form a second combined blob characteristic Forming sexuality, The second coupling blob characteristic is compared with the second optimal characteristic. Based on the comparison of the second coupling blob characteristic with respect to the second optimal characteristic, The optical signal emitted from the active marker corresponding to the first and second blobs A control signal to be adjusted by the tracker is communicated to the tracker. The navigation system according to claim 11, configured as follows.

15. The aforementioned coupled blob characteristic is defined as the first coupled blob characteristic, and the optimal characteristic is the first Defined as the optimal characteristic, the controller The first bonded blob characteristics are compared with the first optimal characteristics, and the first bonded blob characteristics To determine whether sex is the best option, In response to the determination that the first coupling blob characteristics were not optimal, the first and second... The optical signal emitted from the active marker corresponding to the blob is transmitted to the tracker. A control signal to be adjusted is communicated to the tracker. Based on the above comparison, in response to the determination that the first coupling blob characteristics are the best, 、 The third characteristic of the first blob and the fourth characteristic of the second blob are obtained, The third and fourth characteristics obtained are combined to form a second combined blob Forming characteristics, The second bonded blob characteristics are compared with the second optimal characteristics, and the second bonded blob Determine whether the characteristics are not optimal, Based on the above comparison, we determined that the second coupling blob characteristic was not the best. The light emitted from the active markers corresponding to the first and second blobs A control signal is communicated to the tracker to cause it to adjust the signal. The navigation system according to claim 11 or 14, configured as follows.

16. The first and second characteristics obtained are blob strength characteristics, and the third and fourth characteristics obtained are The characteristic is a blob size characteristic or a blob shape characteristic, according to claim 14 or 15. Navigation system.

17. The aforementioned target is defined as the first target, and the aforementioned blob is defined as the first blob. The tracker is defined as the first tracker, and the acquired characteristics are the acquired first Defined as a characteristic, the optimal characteristic is a first optimal characteristic specific to the first tracker. A second tracker defined as and positioned relative to a second target object within the surgical workspace. and active in tracking the posture of the second tracker within the surgical workspace. The system further comprises a second tracker having a predefined geometry of the marker, and the row The image data generated by the colorizer camera is used by the second tracker. The active signal of the second tracker generated from the active marker Each of the tive markers includes a second blob, and the controller, The active marker of the second tracker corresponding to the second blob Assign each of the two blobs, Obtain the second property of each second blob, The acquired second characteristic is specific to the second tracker and is the optimal first characteristic By comparing it with a second optimal characteristic that is different from the characteristic, Based on the above comparison, at least one of the active markers of the second tracker At least one control that causes the second tracker to adjust the optical signal emitted from the first tracker. The signal is communicated to the second tracker. A navigation system according to any one of claims 1 to 16, configured as described above.

18. The controller, based on the first optimal characteristics, controls the first tracker Assign the first blob to the active marker and / or the second optimal characteristic Based on this, the second blob is assigned to the active marker of the second tracker. The navigation system according to claim 17, configured to be such as...

19. For each of the first blobs, the controller: The difference between the first characteristic obtained and the first optimal characteristic of the first blob is determined. The difference between the first characteristic obtained and the first optimal characteristic of the first blob is not within the threshold. Determine whether it is full, The difference between the first characteristic obtained and the first optimal characteristic of the first blob is the threshold. In response to the determination that the value is less than the specified value, the first blob corresponds to the first tracker. It was determined that the active mark of the first tracker corresponding to the first blob Assign the first blob to the car. The navigation system according to claim 17 or 18, configured as follows.

20. The predefined geometry of the active marker of the first tracker, and The predefined geometry of the active marker of the second tracker is substantially A navigation system according to any one of claims 17 to 19, which is equivalent.

21. The aforementioned controller Based on the image data, the active mark of the tracker in the surgical workspace Determine the car's position, Based on the determined position of the active marker, At least one of the optical signals emitted from one of the devices causes the tracker to adjust the optical signal. Two control signals are communicated to the tracker. The navigation system according to any one of claims 1 to 20 is configured as follows: Hmm.

22. For each of the active markers, the controller The acquired characteristics of the blob corresponding to the active marker are compared with the optimal characteristics. In comparison, determine whether the blob corresponding to the active marker is not the best. In response to determining that the blob corresponding to the active marker is not the best, Based on the determined position of the active marker, the following is emitted from the active marker. A control signal is communicated to the tracker to cause the tracker to adjust the optical signal. The navigation system according to claim 21, configured as follows.

23. The aforementioned controller The determined position of the active marker is determined previously of the active marker. Compared to the position, the distance between the active marker and the localizer camera Determine the change, Based on the change in distance, the optical signal emitted from the active marker A control signal to be adjusted by the tracker is communicated to the tracker. By being configured in this way, based on the determined position of the active marker Control signals that cause the tracker to adjust the optical signal emitted from the active marker The navigation system according to claim 22, configured to communicate the number to the tracker. Stem.

24. The aforementioned controller, The change in distance between the active marker and the localizer camera Determine whether the distance is increasing or decreasing. The change in distance between the active marker and the localizer camera In response to the increase in distance, the intensity of the light signal emitted from the active marker A control signal is sent to the tracker to increase the degree and / or duration. death, The change in distance between the active marker and the localizer camera In response to the decrease in distance, the intensity of the light signal emitted from the active marker A control signal is communicated to the tracker to reduce the degree and / or duration. do By being configured in this way, the active based on the change in the determined distance The tracker receives a control signal that causes the tracker to adjust the optical signal emitted from the marker. The navigation system according to claim 23, configured to communicate with a car.

25. Navigation system for optimizing the tracking of a target object within the surgical workspace. And, A first tracker positioned relative to a first target object within the surgical workspace. And, in order to track the posture of the first tracker within the surgical workspace, A first tracker having an active marker of the geometry, A second tracker positioned relative to a second target object within the aforementioned surgical workspace. And, in order to track the posture of the second tracker within the surgical workspace, A second tracker having an active marker for the geometry, In coordination with the first and second trackers, the light emitted from the active marker The first active markers of the first tracker generated from the signal The second blob and the optical signal emitted from the active marker Generate image data showing each of the second blobs of the active markers of the lacquer. A localizer camera configured to do so, The first and second trackers and the localizer camera are communicated together. A controller that was created The characteristics of the first and second blobs are obtained, The acquired characteristics are defined as the first optimal characteristics specific to the first tracker, and the first Compared with a second optimal characteristic specific to the second tracker, which is different from the optimal characteristic of the first tracker, Based on the above comparison, the first blob is placed on the first tracker, and the second tracker Assign the second blob to the cker. The controller is configured in such a way as A navigation system equipped with [this feature].

26. Navigation system for optimizing the tracking of a target object within the surgical workspace. And, A tracker positioned relative to the target object, wherein the tracker in the surgical workspace A tracker with predefined geometry active markers to track its posture. cker and, In cooperation with the aforementioned tracker, the optical signal emitted from the active marker is generated The configuration generates image data showing each of the blobs of the active markers. The localized camera, A controller that is communicatively coupled to the tracker and the localizer camera. There is, Based on the image data, the active tracker in the surgical workspace Determine the marker's position, Based on the determined position of the active marker, The optical signal emitted from at least one of the active markers is transmitted to the tracker Communicate at least one control signal to the tracker to cause it to adjust. The controller is configured as follows: A navigation system equipped with [this feature].

27. It was a navigation system designed to optimize the tracking of a target object within the surgical workspace. hand, A tracker positioned relative to the target object, wherein the tracker in the surgical workspace Tracks the attitude of a passive marker with a predefined geometry Car and, The system includes a light source configured to emit an optical signal to illuminate the passive marker. - A colorizer camera, wherein the passive marker of the optical signal emitted from the light source... Image data showing each blob of the passive marker generated from reflection by - The localizer camera is configured to generate, A controller that is communicatively coupled to the localizer camera, We obtained the characteristics of each blob. The acquired characteristics are compared with the optimal characteristics. Based on the above comparison, at least one optical parameter of the localizer camera Adjust The controller is configured in such a way as A navigation system equipped with [this feature].

28. The controller illuminates the passive marker based on the comparison. It is configured to adjust the intensity and / or duration of the optical signal emitted from the light source. By doing so, based on the comparison, at least one optical part of the localizer camera Navigation system according to claim 27, configured to adjust the lameter 。

29. The aforementioned controller The acquired characteristics are combined to form a coupled blob characteristic. The coupling blob characteristics are compared with the optimal characteristics to determine if the coupling blob characteristics are not the best. To determine whether to go, Based on the above comparison, in response to the determination that the coupling blob characteristics are not optimal, Adjusting the at least one optical parameter of the localizer camera The navigation system according to claim 27 or 28, configured as follows.

30. The acquired characteristic is defined as the first acquired characteristic, and the coupled blob characteristic is the Defined as a coupled blob characteristic, the optimal characteristic is defined as the first optimal characteristic, The aforementioned controller The first bonded blob characteristics are compared with the first optimal characteristics, and the first bonded blob characteristics To determine whether sex is the best option, Based on the above comparison, in response to the determination that the first coupling blob characteristics are not the best, , adjust the at least one optical parameter of the localizer camera, Based on the above comparison, in response to the determination that the first coupling blob characteristics are the best, 、 Obtain the second property of each blob, The second characteristics obtained above are combined to form a second coupled blob characteristic. The second bonded blob characteristics are compared with the second optimal characteristics, and the second bonded blob Determine whether the characteristics are not optimal, Based on the above comparison, we determined that the second coupling blob characteristic was not the best. Then, adjust the at least one optical parameter of the localizer camera. The navigation system according to any one of claims 27 to 29 is configured as follows: Tem.

31. The aforementioned target is defined as the first target, and the aforementioned blob is defined as the first blob. The tracker is defined as the first tracker, and the optical signal is the first tracker Defined as a first optical signal specific to Carr, it is used to target a second target within the surgical workspace. A second tracker positioned opposite, the second tracker within the surgical workspace The second marker has a predefined geometry to track the attitude of the kicker. The controller further comprises two trackers, The light source emits a second optical signal specific to the second tracker, The second optical signal differs from at least one corresponding characteristic of the first optical signal. It also has the characteristic of emitting, Image data corresponding to the second optical signal generated by the localizer camera Receiving the received image data, wherein the second image data emitted from the light source The second tracker generated from the reflection of the optical signal by the passive marker Receiving and indicating the second blob of each passive marker, To obtain the characteristics of each second blob, The acquired characteristics of the second blob are compared with the optimal characteristics, and the second blob To determine whether the acquired characteristics are not the best, Based on the above comparison, it was determined that the acquired characteristics of the second blob were not the best. In response to this, the at least one characteristic of the second optical signal is adjusted. Navigation according to any one of claims 27 to 30, configured to perform System.

32. The second optical signal which is different from the at least one corresponding characteristic of the first optical signal The at least one of the above characteristics is a light intensity characteristic or a light duration characteristic or both. The navigation system according to claim 31, including the navigation system according to claim 31.

33. The image data corresponding to the second optical signal is the second light emitted from the light source. The first tracker generated from the reflection of the signal by the passive marker Each of the third blobs of the sib marker is shown, and the controller controls the second optical signal In response to receiving the image data corresponding to the above, the second based on the optimal characteristics The blob according to claim 31 or 32, configured to distinguish the blob from the third blob. Navigation system.

34. The predefined geometry of the passive marker of the first tracker and the The predefined geometry of the passive marker of tracker 2 is substantially equivalent. The navigation system according to any one of claims 31 to 33.

35. The aforementioned controller The aforementioned light source emits an optical signal having changing characteristics, The passive marker generated from the reflection of the emitted optical signal by the passive marker For each of the emitted light signals, the R The colorizer camera receives the image data it generates. For each instance of the received image data, each block indicated by the image data The characteristics of Rob are obtained, and the obtained characteristics are compared with the optimal characteristics, and the received image data Determine which of the aforementioned instances of the data is the most optimally closest. In response to determining the most optimally closest instance of the received image data, The tracker has the characteristics of the optical signal corresponding to the received image data instance. Assign, Based on the optical signal characteristics assigned to the tracker, in the surgical workspace Track the tracker's posture Navigation system according to any one of claims 27 to 34, configured as described above. 。

36. The aforementioned controller To illuminate the passive marker of the tracker, assign to the tracker To emit an optical signal having the aforementioned optical signal characteristics from the light source, The emitted optical signal having the optical signal characteristics assigned to the tracker corresponds to Receiving image data, wherein the received image data is the passive mark The emitted light having the optical signal characteristics assigned to the tracker by the car The receiving shows a blob of each passive marker of the tracker generated from the reflection of the signal. Believing and, To obtain the characteristics of each blob in the received image data, The acquired characteristics of the blob in the received image data are compared with the optimal characteristics. , determining whether the acquired characteristics of the blob are not the best, Based on the above comparison, it was determined that the acquired characteristics of the blob were not the best. Furthermore, the optical signal characteristics assigned to the tracker are adjusted. The navigation system according to claim 35, configured to perform the following:

37. The aforementioned controller Based on the aforementioned image data, the passive mark of the tracker in the surgical workspace Determine the car's position, Based on the determined position of the passive marker, in front of the localizer camera Adjust at least one optical parameter. The navigation system according to any one of claims 27 to 36 is configured as follows: Tem.

38. The controller, based on the comparison, controls the electronic aperture time of the localizer camera. The localizer camera is configured to adjust based on the comparison. The following claims 27 to are configured to adjust the at least one optical parameter of the above. A navigation system as described in any one of item 37.

39. The localizer camera includes a mechanical shutter, and the controller controls the ratio The shutter time of the mechanical shutter is configured to be adjusted based on the comparison. Based on the comparison, the at least one optical part of the localizer camera A na according to any one of claims 27 to 38, configured to adjust the meter Navigation system.

40. The localizer camera includes a mechanical aperture, and the controller is based on the comparison. The following is configured to adjust the intake size of the mechanical opening: Based on the comparison, the at least one optical parameter of the localizer camera is adjusted. Navigation according to any one of claims 27 to 39, configured to organize system.

41. A navigation system for tracking a target object within the surgical workspace, A first tracker positioned relative to a first target object within the surgical workspace, To track the posture of the first tracker within the surgical workspace, a passive marker is pre-installed. A first tracker having a defined geometry, A second tracker positioned relative to a second target object within the surgical workspace, To track the posture of the second tracker within the surgical workspace, a passive marker is used. A second tracker containing the defined geometry, To illuminate the passive markers of the first and second trackers, an optical signal is emitted. A localizer camera including a light source configured to such effect, wherein the light source emits The first and second tracks generated from the reflection of the optical signal by the passive marker The system is configured to generate image data showing each blob of the passive markers of the car. The localizer camera, A controller that is communicatively coupled to the localizer camera, The light source emits a first optical signal specific to the first tracker, The first optical signal emitted is generated by the localizer camera. Received the image data, Based on the received image data corresponding to the first optical signal, the surgical workspace The posture of the first tracker is tracked internally, From the light source, the following are specific to the second tracker and less of the first optical signal. It emits a second optical signal having at least one characteristic different from one of its corresponding characteristics, The second optical signal emitted above is generated by the localizer camera. Received the image data, Based on the received image data corresponding to the second optical signal, the surgical workspace Tracking the posture of the second tracker within The controller is configured in such a way as A navigation system equipped with [this feature].

42. A navigation system for optimizing target tracking within the surgical workspace. That is, A tracker positioned relative to the target object, wherein the tracker is positioned within the surgical workspace. It has passive markers of predefined geometry to track the attitude of the lacquer. Tracker and, The system includes a light source configured to emit an optical signal to illuminate the passive marker. - A colorizer camera, wherein the passive marker of the optical signal emitted from the light source... Image data showing each blob of the passive marker generated from reflection by - The localizer camera is configured to generate, A controller that is communicatively coupled to the localizer camera, The aforementioned light source emits an optical signal having changing characteristics, The passive marker generated from the reflection of the emitted optical signal by the passive marker For each of the emitted light signals, which indicate each blob of the blob marker, the blob -Receives image data generated by the colorizer camera, For each instance of the received image data, each of the images indicated by the image data The characteristics of the blob are obtained, and the obtained characteristics are compared with the optimal characteristics, and the received image data Determine which of the instances of the object is the closest and most optimal. In response to determining the most optimally closest instance of the received image data, The tracker records the characteristics of the optical signal corresponding to the instance of the received image data. Assign gender, Based on the optical signal characteristics assigned to the tracker, within the surgical workspace Track the attitude of the aforementioned tracker. The controller is configured in such a way as A navigation system equipped with [this feature].

43. Navigation system for optimizing the tracking of a target object within the surgical workspace. And, A tracker positioned relative to the target object, wherein the tracker is positioned within the surgical workspace. It has passive markers of predefined geometry to track the attitude of the lacquer. Tracker and, The system includes a light source configured to emit an optical signal to illuminate the passive marker. - A colorizer camera, wherein the passive marker of the optical signal emitted from the light source... Image data showing each blob of the passive marker generated from reflection by - The localizer camera is configured to generate, A controller that is communicatively coupled to the localizer camera, Based on the image data, the passive machine of the tracker in the surgical workspace Determine the car's position, Based on the determined position of the passive marker, the localizer camera Adjust at least one optical parameter. The controller is configured in such a way as A navigation system equipped with [this feature].

44. Navigation system for optimizing the tracking of a target object within the surgical workspace. And, A tracker positioned relative to the target object, wherein the tracker is positioned within the surgical workspace. A passive, manually repositionable predefined geometry to track the lacquer's attitude. A tracker with a boom marker, The system includes a light source configured to emit an optical signal to illuminate the passive marker. - A colorizer camera, wherein the passive marker of the optical signal emitted from the light source... Image data showing each blob of the passive marker generated from reflection by - The localizer camera is configured to generate, A controller that is communicatively coupled to the localizer camera, We obtained the characteristics of each blob. The acquired characteristics are compared with the optimal characteristics. Based on the above comparison, the gas for repositioning the passive marker of the tracker Determine and display the diance. The controller is configured in such a way as A navigation system equipped with [this feature].

45. A tracker positioned relative to a target object, wherein the tracker is located within the surgical workspace. Tracker has active markers with predefined geometry to track the attitude of the vehicle. The car, in cooperation with the tracker, receives the light signal emitted from the active marker. To generate image data showing each of the generated active marker blobs A localizer camera configured as follows, and the tracker and the localizer camera The navigation system, including a controller that is communicably coupled, allows the surgery to proceed. A method for optimizing the tracking of the target object within a workspace, The aforementioned controller The tracker is positioned relative to the target object within the surgical workspace. The localizer camera detects the light signal emitted from the active marker. Then, image data showing each of the generated active marker blobs is generated. 、 The controller enables the active marker corresponding to the blob to receive the blob. Assign each of the B's, The controller acquires the characteristics of each blob, The controller compares the acquired characteristics with the optimal characteristics. Based on the above comparison, the controller determines that at least the active marker At least one control signal that causes the tracker to adjust the optical signal emitted from the other The number is communicated to the aforementioned tracker. A method that is structured in such a way.

46. The at least one control signal communicated to the tracker is the active marker - The intensity or duration of the optical signals emitted from at least one of the above The method according to claim 45, wherein both are adjusted by the tracker.

47. The acquired characteristics of each of the blobs are compared with the optimal characteristics, and the blob is the best To determine whether something is good or not, Based on the above comparison, one or more of the blobs are identified as suboptimal, For each of the one or more blobs identified, the Acte corresponding to the blob The control signal that causes the tracker to adjust the optical signal emitted from the live marker is transmitted to the tracker. To communicate with the lacquer and The method according to claim 45 or 46, further comprising:

48. The acquired characteristics of each blob show a first value, and the optimal characteristics show a second value. The first value shown for each of the blobs is compared with the second value. To determine whether the first value is greater than the second value, Based on the above comparison, each of the blobs whose first value is greater than the second value Identifying one or more of the following, For each of the identified one or more blobs where the first value is greater than the second value: Therefore, the intensity of the optical signal emitted from the active marker corresponding to the blob. and / or communicate a control signal to the tracker to reduce the duration. and The method according to any one of claims 45 to 47, further comprising:

49. The acquired characteristics of each blob show a first value, and the optimal characteristics show a second value. The first value shown for each of the blobs is compared with the second value. To determine whether the first value is less than the second value, Based on the above comparison, each of the blobs whose first value is less than the second value Identifying one or more, For each of the identified one or more blobs whose first value is less than the second value The intensity of the optical signal emitted from the active marker corresponding to the blob Alternatively, a control signal is sent to the tracker to increase the duration or both. Communicating with the car and The method according to any one of claims 45 to 48, further comprising:

50. The acquired characteristic is the blob strength characteristic, and the optimal characteristic is the optimal blob strength characteristic. The method according to any one of claims 45 to 49.

51. The acquired characteristic is the blob size characteristic, and the optimal characteristic is the optimal blob size characteristic. The method according to any one of claims 45 to 49.

52. The acquired characteristics are blob shape characteristics, and the optimal characteristics are the optimal blob shape characteristics. The method according to any one of claims 45 to 49.

53. The acquired characteristic is defined as the first acquired characteristic, and the optimal characteristic is defined as the first optimal Defined as suitable characteristics, the controller To obtain one or more second characteristics of the blob, The process involves comparing one or more acquired second characteristics with a second optimal characteristic. Based on the comparison of the one or more acquired second characteristics with respect to the second optimal characteristic , at least one of the one or more active markers corresponding to the one or more blobs At least one control signal is used to cause the tracker to adjust the optical signal emitted from the tracker. To communicate with the tracker and The method according to any one of claims 45 to 49, including the method described in any one of claims 45 to 49.

54. The acquired characteristic is defined as the first acquired characteristic, and the optimal characteristic is defined as the first optimal Defined as an optimal characteristic, The first characteristics obtained for each of the blobs are compared with the first optimal characteristics. To determine whether the first characteristic obtained from the blob is not the best, Based on the comparison of the acquired first characteristic with respect to the first optimal characteristic, from the blob, Therefore, identify one or more first blobs whose first optimal characteristics are best. That thing, To obtain the second characteristic of each of the one or more first blobs, The acquired second characteristics of each of the one or more blobs are compared with the second optimal characteristics. And, to determine whether the second characteristic obtained of the blob is not the best, From the one or more first blobs, the second optimal characteristic of the acquired second characteristic is determined to Based on the above comparison, one or more second blobs whose second optimal characteristics are not the best To distinguish each one, For each of the one or more second blobs identified, the corresponding blob A control signal that causes the tracker to adjust the optical signal emitted from the active marker. To communicate with the aforementioned tracker and The method according to any one of claims 45 to 49 and 53, further comprising:

55. The first characteristic obtained is the blob strength characteristic, and the second characteristic obtained is the blob strength characteristic. The method according to claim 53 or 54, wherein the characteristic is an ise property or a blob shape property.

56. The image data corresponds to the first image of the first optical sensor of the localizer camera. Image data and second image data corresponding to the second optical sensor of the localizer camera. The first and second image data are each emitted from the active marker. The blobs of each active marker generated from the optical signals are shown. For each of the aforementioned active markers, A first blob corresponding to the active marker is obtained from the first image data. Identifying blob 2 from the second image data, To obtain the first characteristics of the first blob and the second characteristics of the second blob. 、 The first and second characteristics obtained are combined to form a combined blob characteristic. To form, The coupling blob characteristics are compared with the optimal characteristics to determine whether the coupling blob characteristics are not the best. To determine whether or not, Based on the comparison of each of the coupling blob characteristics with respect to the optimal characteristics, the coupling Identifying one or more blob properties as suboptimal, For each of the one or more bonded blob characteristics identified, The optical signal emitted from the corresponding active marker is adjusted by the tracker. To communicate control signals to the tracker and The method according to claim 45 or 46, further comprising:

57. The first and second characteristics obtained are the strength characteristics obtained, and the optimal characteristics are the optimal b The method according to claim 56, which is a Rob strength characteristic.

58. The aforementioned optimal blob intensity characteristics are 75% or more of the complete intensity value of the localizer camera. The method according to claim 50 or 57, wherein the intensity value is 95% or less.

59. The aforementioned coupled blob characteristic is defined as the first coupled blob characteristic, and the optimal characteristic is the first Defined as the optimal characteristic, the controller For each of the one or more of the above active markers, The third characteristic of the first blob corresponding to the active marker and the second blob Rob's fourth characteristic is acquired, The third and fourth characteristics obtained are combined to form a second combined blob Forming characteristics, The second coupling blob characteristic is compared with the second optimal characteristic. The second binding blob characteristics of each of the one or more active markers Based on the above comparison for the optimal characteristics, at least one of the active markers The tracker receives a control signal that causes the tracker to adjust the optical signal emitted from the other device. - Communicate The method according to claim 56, configured as described above.

60. The aforementioned coupled blob characteristic is defined as the first coupled blob characteristic, and the optimal characteristic is the first Defined as the optimal characteristic of, Based on the comparison of each of the one or more first coupled blob characteristics with respect to the optimal characteristics Therefore, one or more of the first coupling blob characteristics are identified as the best, For each of the one or more first coupling blob characteristics identified as the best, The third characteristic of the first blob and the second corresponding to the first coupling blob characteristic To acquire the fourth characteristic of the blob, The third and fourth characteristics obtained are combined to form a second combined blob To form characteristics, The second bonded blob characteristics are compared with the second optimal characteristics, and the second bonded blob To determine whether the characteristics are not optimal, Based on the above comparison, we determined that the second coupling blob characteristic was not the best. The light emitted from the active marker corresponding to the first coupling blob characteristic To communicate a control signal to the tracker that causes the tracker to adjust the signal, The method according to claim 56 or 59, further comprising:

61. The first and second characteristics obtained are blob strength characteristics, and the third and fourth characteristics obtained are The characteristic is a blob size characteristic or a blob shape characteristic, according to claim 59 or 60. method.

62. The aforementioned target is defined as the first target, and the aforementioned blob is defined as the first blob. The tracker is defined as the first tracker, and the acquired characteristics are acquired Defined as a first characteristic, the optimal characteristic is a first optimal characteristic specific to the first tracker. Defined as a characteristic, The method involves positioning a second tracker relative to a second target object within the surgical workspace. The second tracker tracks the posture of the second tracker within the surgical workspace. The active marker has a predefined geometry for this purpose, and the localizer has a The image data generated by the camera is used by the active mark of the second tracker. The active mark of the second tracker, generated from the light signal emitted from the car The arrangement includes the second blob of each of the kerrs, The active marker of the second tracker corresponding to the second blob Assigning each of the two blobs, To obtain the second property of each second blob, The acquired second characteristic is specific to the second tracker and is the first optimal characteristic. This involves comparing it with a second optimal characteristic that is different from the first one, Based on the comparison of the acquired second characteristic with respect to the second optimal characteristic, the second The optical signal emitted from at least one of the active markers of the lacquer A signal is transmitted to the second tracker to cause it to adjust at least one control signal. and The method according to any one of claims 45 to 61, further comprising:

63. Based on the first optimal characteristics, the active marker of the first tracker is placed in front of Assigning the first blob and / or, based on the second optimal characteristics, Assigning the second blob to the active marker of the second tracker The method according to claim 62, including the method described above.

64. For each of the first blobs mentioned above, The difference between the first characteristic obtained and the first optimal characteristic of the first blob is determined. Toto, The difference between the first characteristic obtained and the first optimal characteristic of the first blob is not within the threshold. To determine that it is complete, The difference between the first characteristic obtained and the first optimal characteristic of the first blob is the threshold. In response to the determination that the value is less than the specified value, the first blob corresponds to the first tracker. It was determined that the active mark of the first tracker corresponding to the first blob Assigning the first blob to the car and The method according to claim 62 or 63, further comprising:

65. The predefined geometry of the active marker of the first tracker, and The predefined geometry of the active marker of the second tracker is substantially The method according to any one of claims 61 to 64, which is equivalent.

66. Based on the image data, the active mark of the tracker in the surgical workspace Determining the car's position, Based on the determined position of the active marker, At least one of the optical signals emitted from one of the devices causes the tracker to adjust the optical signal. To communicate two control signals to the tracker The method according to any one of claims 45 to 65, further comprising:

67. The acquired characteristics of each of the blobs are compared with the optimal characteristics, and the blob is the best To determine whether something is good or not, Based on the above comparison, one or more of the blobs are identified as suboptimal, For each of the one or more blobs identified as not being the best, the active Based on the determined position of the marker, the active marker corresponding to the blob A control signal is transmitted to the tracker to cause the optical signal emitted from the tracker to be adjusted. Believing and The method according to claim 66, further comprising:

68. Based on the determined position of the active marker, the A corresponding to the blob A control signal is issued to the tracker to adjust the optical signal emitted from the active marker. The ability to communicate with the tracker The determined position of the active marker is determined previously of the active marker. Compared to the position, the distance between the active marker and the localizer camera To determine the change, Based on the change in distance, the optical signal emitted from the active marker To communicate a control signal to the tracker to cause it to adjust, The method according to claim 67, including the method described in claim 67.

69. Based on the change in distance, the optical signal emitted from the active marker Communicating control signals to the tracker to cause it to adjust is The change in distance between the active marker and the localizer camera To determine that it indicates an increase in distance, The change in distance between the active marker and the localizer camera In response to the determination that an increase in distance was being indicated, the active marker emitted the A control signal is sent to the tracker to increase the intensity and / or duration of the optical signal. Communicating with the car and The method according to claim 68, including the method described in claim 68.

70. A first tracker positioned within the surgical workspace relative to a first target object, A predefined method for tracking the posture of the first tracker within the surgical workspace. A first tracker having an active marker for geometry, and within the surgical workspace A second tracker positioned relative to a second target object within the surgical workspace. In order to track the attitude of the second tracker, the predefined geometry of the activity A second tracker having a boom marker, in cooperation with the first and second trackers, The first tracker generated from the optical signal emitted from the active marker Each of the first blobs of the active marker, and the emission from the active marker Each of the active markers of the second tracker generated from the optical signal A localizer camera configured to generate image data showing a second blob, and The first and second trackers and the localizer camera are communicatively coupled. A navigation system including a controller enables the target object within the surgical workspace to be seen. A method for optimizing tracking, Within the surgical workspace, the first and second trackers are used to track the first and second targets. - to reject, The localizer camera generates from the light signal emitted from the active marker. The first blobs of the active markers of the first tracker, and In front of the second tracker, which is generated from the light signal emitted from the active marker. To generate the image data showing each of the second blobs of the active markers. 、 The controller acquires the characteristics of the first and second blobs, The controller uses the acquired characteristics to determine a first optimal configuration specific to the first tracker. Characteristics, and a second optimal characteristic specific to the second tracker that is different from the first optimal characteristic. To compare and Based on the above comparison, the controller sends the first blob to the first tracker. This involves assigning the second blob to the second tracker. A method that includes this.

71. A tracker positioned relative to a target object, wherein the tracker is located within the surgical workspace. Tracker has active markers with predefined geometry to track the attitude of the vehicle. The car, in cooperation with the tracker, receives the light signal emitted from the active marker. To generate image data showing each of the generated active marker blobs A localizer camera configured as follows, and the tracker and the localizer camera The navigation system, including a controller that is communicably coupled, allows the surgery to proceed. A method for optimizing the tracking of the target object within a workspace, The tracker is positioned relative to the target object within the surgical workspace. The localizer camera generates from the light signal emitted from the active marker. To generate image data showing each of the active marker blobs. and, The controller, based on the image data, controls the traction within the surgical workspace. Determining the position of the active marker on the cker, Based on the determined position of the active marker, The optical signal emitted from at least one of the active markers is transmitted to the tracker. Communicating at least one control signal to be adjusted to the tracker A method that includes this.

72. A tracker positioned relative to a target object, wherein the tracker is located within the surgical workspace. A tracker with passive markers of predefined geometry to track its posture. - and a light source configured to emit an optical signal to illuminate the passive marker. A localizer camera, wherein the passive filter of the light signal emitted from the light source... Image data showing each blob of the passive marker generated from reflection by the marker. The localizer camera configured to generate data, and the localizer camera A navigation system including a controller that is communicably coupled to the R, A method for optimizing the tracking of the target object within the surgical workspace, The tracker is positioned relative to the target object within the surgical workspace, The localizer camera receives the light signal emitted from the light source and the passive filter The image shows each blob of the passive marker generated from the reflection by the Kerr. Generating data and The controller acquires the characteristics of each blob, The controller compares the acquired characteristics with the optimal characteristics, Based on the above comparison, the controller determines that at least one of the localizer cameras Adjusting one optical parameter and A method that includes this.

73. A first tracker positioned within the surgical workspace relative to a first target object, A predefined geometry is used to track the posture of the first tracker within the surgical workspace. A first tracker having a passive marker for Tori, and a second tracker within the surgical workspace. A second tracker positioned relative to the target object, within the surgical workspace A passive marker with predefined geometry to track the attitude of the second tracker. A second tracker having the passive markers of the first and second trackers A localizer camera containing a light source configured to emit a light signal for illumination. The preceding Image data showing the respective blobs of the passive markers of the first and second trackers. The localizer camera configured to generate data, and the localizer camera A navigation system including a controller that is communicably coupled to the hand A method for tracking a target object within the surgical workspace, Within the surgical workspace, the first and second targets are respectively Placing trackers, The light source emits a first optical signal specific to the first tracker, The controller corresponds to the first optical signal that was emitted, and the localizer controller Receiving image data generated by the camera, The controller, based on the received image data corresponding to the first optical signal, , tracking the posture of the first tracker within the surgical workspace, From the light source, at least one of the first optical signals is specific to the second tracker and is also specific to the second tracker. It also emits a second optical signal having at least one characteristic different from one of its corresponding characteristics. Toto, The controller corresponds to the emitted second optical signal, and the localizer controller Receiving image data generated by the camera, The controller, based on the received image data corresponding to the second optical signal, , tracking the posture of the second tracker within the surgical workspace A method that includes this.

74. A tracker positioned relative to a target object, wherein the tracker is located within the surgical workspace. A tracker with passive markers of predefined geometry to track its posture. - and a light source configured to emit an optical signal to illuminate the passive marker. A localizer camera, wherein the passive filter of the light signal emitted from the light source... Image data showing each blob of the passive marker generated from reflection by the marker. The localizer camera configured to generate data, and the localizer camera A navigation system including a controller that is communicably coupled to the R, A method for optimizing the tracking of the target object within the surgical workspace, The tracker is positioned relative to the target object within the surgical workspace, The light source emits an optical signal having changing characteristics, The controller generates from the reflection of the emitted optical signal by the passive marker. The emitted optical signal that shows each of the blobs of the passive markers that have been formed. Regarding that, the image data generated by the localizer camera is received. 、 For each instance of received image data, the controller... The controller obtains the characteristics of each blob shown by and the obtained characteristics Which of the received image data instances is the closest to the optimal characteristics? To make a judgment, In response to determining the most optimally closest instance of the received image data, The controller provides the tracker with the corresponding instance of the received image data. Assigning the aforementioned characteristics of the optical signal, The controller, based on the optical signal characteristics assigned to the tracker, To track the posture of the tracker within the surgical workspace and A method that includes this.

75. A tracker positioned relative to a target object, wherein the tracker is located within the surgical workspace. A tracker with passive markers of predefined geometry to track its posture. - and a light source configured to emit an optical signal to illuminate the passive marker. A localizer camera, wherein the passive filter of the light signal emitted from the light source... Image data showing each blob of the passive marker generated from reflection by the marker. The localizer camera configured to generate data, and the localizer camera A navigation system including a controller that is communicably coupled to the R, A method for optimizing the tracking of the target object within the surgical workspace, The tracker is positioned relative to the target object within the surgical workspace, The localizer camera receives the light signal emitted from the light source and the passive filter Image data showing each blob of the passive marker generated from reflection by the carr. To generate a file, The controller, based on the image data, tracks the tracker within the surgical workspace. - Determining the position of the passive marker, Based on the determined position of the passive marker, the controller controls the low Adjusting at least one optical parameter of the colorizer camera and A method that includes this.

76. The navigation system optimizes the tracking of a target object within the surgical workspace. A method for which the navigation system is positioned relative to the target object. A tracker, which is manually used to track the position of the tracker within the surgical workspace. A tracker having a repositionable, predefined geometry passive marker, and the Low color light source configured to emit a light signal to illuminate passive markers An Izer camera, wherein the passive marker of the optical signal emitted from the light source Image data is generated showing each blob of the passive marker generated from the reflection. A localizer camera configured to communicate with the localizer camera, and Includes a controller that is coupled to the function, The tracker is positioned relative to the target object within the surgical workspace, The localizer camera receives the light signal emitted from the light source and the passive filter The image shows each blob of the passive marker generated from the reflection by the Kerr. Generating data and The controller acquires the characteristics of each blob, The controller compares the acquired characteristics with the optimal characteristics, The controller, based on the comparison, determines the passive marker of the tracker To determine and display guidance for relocation. A method that includes this.

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