29 results about "Optical tracker" patented technology

An apparatus for configuring a wearable device for exercise tracking includes a data storage unit for storing sensor data generated by a sensor arrangement in the wearable device based on sensed movement of the wearable device and optical movement data including representations of an individual obtained from an image-based monitoring system; and a processing unit configured to: execute a movement tracker model on the sensor data to determine a first exercise activity and an associated first confidence indicator; execute an optical tracker model on the optical movement data to determine a second exercise activity and an associated second confidence indicator; process the movement tracker model based on the first confidence indicator and the second confidence indicator.

A compound robotic system includes a first robot, a second robot, a needle insertion device, a first optical positioning ball module, plural skin markers, an optical tracker, a shared controller and a computer calculation unit. The volume and movement range of the second robot are respectively less than the volume and movement range of the first robot, and the positioning accuracy of the second robot is greater than the positioning accuracy of the first robot. The first optical positioning ball module is located on the second robot. The optical tracker is configured to measure the first optical positioning ball module to obtain a position of the second robot, and to measure the skin markers to estimate a planning path. The shared controller is configured to adjust a collaborative rate of the first robot to the second robot by regulating a shared weighting.

The embodiment of the invention provides a high-precision spatial registration method and system based on a total ankle skeleton, and belongs to the technical field of medical image processing, and the method comprises the steps: obtaining tibia and talus three-dimensional data through CT or MRI scanning, and constructing and storing a high-precision skeleton simulation model; positioning trackers containing asymmetrically distributed passive infrared reflection balls are fixed to the tibia and the talus respectively, based on the positioning trackers, double cameras of an optical tracker are used for shooting the reflection balls, three-dimensional coordinates of mark points are obtained through parallax calculation, the real-time space posture of the bone is fitted, a registration matrix is updated, and based on a preoperative model and the tracking posture, the three-dimensional coordinates of the mark points are obtained. A talus coordinate system and a tibia coordinate system are constructed respectively, coarse registration is carried out through coarse registration points based on the coordinate systems, then fine registration points are collected through a probe, fine registration is carried out through a weighted iteration nearest point algorithm, and space registration is completed. According to the invention, through multi-modal data fusion, dynamic pose tracking and a weighted iteration nearest point algorithm, full-ankle bone submillimeter-level high-precision space registration is realized.

A system and method for registering and tracking anatomical structures during surgical procedures by leveraging continuously updated 3D topological data of objects within the surgical field. Registration allows different datasets such as preoperative CT scans and intraoperative 3D scans to be aligned, combined, and transformed into a common coordinate space, enabling more precise surgical planning and execution. Tracking involves continuously registering these datasets over time, monitoring changes in position or orientation, and keeping objects aligned within the common coordinate space, updating the spatial alignment of registered objects multiple times per second, which allows for dynamic monitoring of anatomical structures and surgical tools as they move throughout the procedure. Unlike traditional systems that rely on physical optical markers (OMs) and optical tracker constellations (OTCs), the system and method disclosed herein utilizes the data captured by a 3D scanner to perform Continuous Anatomic Auto Tracking (CAAT).

An optical tracker usable with a handheld surgical instrument, the optical tracker comprising: a tracker frame comprising a mounting body, the tracker frame defining an instrument engagement aperture having a longitudinal axis; and a biasing body extending proximally from the mounting body. The instrument engagement aperture is configured to receive a proximal region of a surgical instrument such that a longitudinal axis of the tracker is aligned with an axis of the surgical instrument. Three radial segments of equal proportion are defined about the longitudinal axis and collectively surround the longitudinal axis. The tracker also includes at least six markers arranged to form at least two arrays coupled to the tracker frame and positioned such that at least one marker is positioned within each radial section. A portion of each array is coupled to the biasing body and positioned proximal to the mounting body.

The utility model relates to a ball head steering bone needle fixing device and an orthopedic surgery robot, and the ball head steering bone needle fixing device comprises a bone needle fixer which is provided with a bone needle hole; the ball head connecting joint comprises a ball head and a ball head fixing seat matched with the ball head, one of the ball head and the ball head fixing seat is connected with the spicule fixator through a connecting rod, and the other one of the ball head and the ball head fixing seat is connected with the optical tracker through the other connecting rod, so that the optical tracker can adjust the position in all directions around the ball head; the optical tracker can solve the technical problems that in the prior art, the position of the optical tracker is fixed, the optical tracker cannot be flexibly adjusted to any position expected by a doctor according to operation requirements, operation space is limited, and operation flexibility is affected.

A positioning system for positioning a worker is provided with: an attitude sensor that is worn by the worker and detects a physical quantity related to a change in the attitude of the worker; an optical tracker device that optically detects a physical quantity indicating the position of a tracker worn by the operator; and a position specifying unit that specifies the position of the worker by selectively using at least one of a first detection result obtained by the attitude sensor and a second detection result obtained by the optical tracker device in a plurality of modes.

1. The name of the design product: tracking scanner. 2. The use of the design product: the design product is used to cooperate with optical tracker to obtain the shape of the geometric surface of the object and generate digital three-dimensional surface model; single point scanning is used to obtain three-dimensional data of the measured object. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view.

The application discloses a method and a navigation system for navigation of two intracranial operation instruments, the method comprising: acquiring an anatomical image; marking a surgical path in the anatomical image; registering the anatomical image in an optical coordinate system based on a pose of a first optical tracker in the optical coordinate system and a pose in an image coordinate system of the anatomical image; acquiring a pose of a second optical tracker in the optical coordinate system by using an optical navigation device; acquiring a pose of a third optical tracker in the optical coordinate system by using the optical navigation device, obtaining a pose of a first electromagnetic sensor in the optical coordinate system based on the pose of the third optical tracker in the optical coordinate system, a pose relationship between a magnetic field generator and the third optical tracker, and a pose of the first electromagnetic sensor relative to the magnetic field generator; calibrating the pose of the first electromagnetic sensor; and obtaining a pose of a first instrument in the optical coordinate system and a calibrated pose of a second instrument in the optical coordinate system.

This invention discloses a method for adjusting the optical axis consistency of an electro-optical tracker in an outdoor environment. The method includes: determining the horizontal center of the laser ranging of the electro-optical tracker based on the horizontal target; keeping the pitch angle of the electro-optical tracker constant, adjusting the visible light device and infrared device of the electro-optical tracker along the horizontal direction; determining a horizontally oriented and stationary object as the vertical target within the neighborhood of the horizontal target; determining the vertical center of the laser ranging of the electro-optical tracker; and adjusting the visible light device and infrared device of the electro-optical tracker along the vertical direction. This invention achieves optical axis consistency for laser, visible light, and infrared light in an outdoor environment without the need for external debugging devices or professional optical axis adjustment devices.

A positioning system positioning a worker, comprising: a posture sensor worn by the worker, the posture sensor detecting a physical quantity relating to a change in posture of the worker; an optical tracker device optically detecting a physical quantity representing a position of a tracker worn by the worker; and a position identification unit identifying a position of the worker by selectively using at least one detection result of first detection result by the posture sensor and second detection result by the optical tracker device in a plurality of patterns.

A technique for determining a pose of an optical tracker is presented. The optical tracker has at least one planar region configured to emit or reflect polarized light and an optical marker in a fixed spatial relation to the at least one planar region. A method implementation of the technique comprises receiving image data indicative of the marker and of polarizations of light received from the at least one planar region. The method further comprises determining, based on the image data and the fixed spatial relation between the marker and the at least one planar region, a pose of the optical tracker.

A medical imaging device is provided. The device comprises a non-stationary housing, an optical tracker configured to be detected by a camera system and comprising a plurality of optically detectable markers attached to the housing, at least one storage configured to store calibration information relating to the optical tracker, and an optical communication interface configured to output to the camera system one or more optical communication signals indicative of the calibration information.

The invention belongs to the technical field of medical instruments, and particularly relates to a catheter device with an AR / MR augmented reality navigation function, a visual catheter assembly comprises a handle, one end of the handle is fixedly connected with a hollow sheath tube, the other end of the handle is fixedly connected with a first mounting frame, four first infrared reflection tracking balls are mounted at the top end of the first mounting frame, and a second infrared reflection tracking ball is mounted at the top end of the first mounting frame. A micro camera is installed at one end of the interior of the hollow sheath tube, an LED lamp is installed on the micro camera, and a transparent observation cover is installed at one end of the exterior of the hollow sheath tube; according to the application, the visual catheter with the navigation function is combined with the cooperation of the optical tracker, the three-dimensional C-arm X-ray machine and the multiple groups of infrared reflection tracking balls, and the virtual-real space registration algorithm is combined, so that precise correspondence among the patient focus, the surgical instrument and the virtual three-dimensional model is realized; a doctor can accurately grasp the spatial position, direction and depth of a surgical tool in the body of a patient in real time, and the positioning precision of puncture and catheter placement is greatly improved.

The embodiment of the invention provides a total ankle joint surgery precise double-needle positioning method and system based on optical guidance, and belongs to the technical field of medical instruments.The method comprises the steps that after ankle joint surgery space registration is completed, a surgery planning system determines double-needle implantation parameters and the position of a needle guiding device based on the ankle joint surgery space registration; dragging the mechanical arm to be near the position, capturing information of the needle guide device by the optical tracker, calculating the accurate position of the needle guide device by the system according to the information and instructing the mechanical arm to adjust; after the needle guide device is in place, double needles are implanted along the Y axis, and then the osteotomy plate is positioned and mounted based on the double needles to complete osteotomy. According to the method, optical guidance and mechanical arm accuracy are fused, and the operation accuracy is improved.

The invention relates to a mixed reality surgical navigation system and a spatial registration method and device thereof. The system comprises a mixed reality device and a registration marker, the mixed reality device comprises a processor and an optical tracker, and the registration marker comprises a registration mark sticker and a global marker. The registration mark sticker is attached to the head of a patient and comprises a plurality of coding mark points, and the global marker is detachably connected to the registration mark sticker. The optical tracker obtains the spatial position information of the coding mark point, and the processor carries out spatial registration according to the spatial position information and the image position information of the coding mark point. By combining the mixed reality technology and the accurate space registration method, the accuracy and reliability of surgical navigation are improved, and the method is suitable for the field of accurate surgery such as neurosurgery.

An optical tracker for use with a handheld surgical instrument, the optical tracker comprising a tracker frame including a mounting body, the tracker frame defining an instrument engagement hole having a longitudinal axis, and a biasing body projecting proximally from the mounting body. The instrument engagement hole is configured to receive a proximal region of a surgical instrument such that the longitudinal axis of the tracker is aligned with an axis of the surgical instrument. Three radially equidistant segments are defined about the longitudinal axis and collectively encircle the longitudinal axis. The tracker further comprises at least six markers arranged to form at least two arrays, coupled to the tracker frame and positioned such that at least one marker is positioned within each radial segment. A portion of each array is coupled to the biasing body and positioned proximally of the mounting body.

Disclosed in the present application are an oral scanning data processing method and apparatus, and an oral scanning system. The method comprises: obtaining scanning data collected by an intraoral scanner in real time, and tracking data collected by an optical tracker at the same time; transforming the scanning data and / or the tracking data into a unified coordinate system; on the basis of the tracking data in the unified coordinate system, determining the current pose of the intraoral scanner; and on the basis of the current pose, performing real-time reconstruction and stitching on the scanning data, so as to obtain a three-dimensional model of an oral region in the unified coordinate system. In the method, tracking data is used to determine the current pose of an intraoral scanner, and the current pose is used to assist with performing real-time reconstruction and stitching on currently collected scanning data, so as to obtain a three-dimensional model of an oral region, thereby improving the scanning experience and reducing the learning costs of a user of the intraoral scanner in terms of stitching position control and strategies, achieving the goal that the user can arbitrarily perform collection in an oral cavity at multiple angles to complete the acquisition of oral data, and improving the popularity of the intraoral scanner.

The present disclosure describes a hybrid navigation system comprising two or more data acquisition apparatuses of different types that addresses limitations of current methods. In some embodiments, the two or more data acquisition apparatuses include at least one structured light three-dimensional scanner-based navigation system and at least one other navigation system (e.g., including but not limited to stereoscopic, ultrasound, electromagnetic, and / or intraoperative imaging). The hybrid approach improves real-time anatomical tracking, reduces the invasiveness of pin-based optical trackers, and maintains compatibility with established workflows. The principles of this disclosure extend across diverse surgical applications, offering enhanced accuracy, flexibility, and efficiency in both traditional and next-generation navigation environments.

The invention discloses an oral cavity scanning data processing method and device and an oral cavity scanning system. The method comprises the steps that scanning data collected by an intraoral scanner in real time and tracking data collected by an optical tracker at the same time are obtained; converting the scanning data and the tracking data to a unified coordinate system; determining the current pose of the intraoral scanner according to the tracking data under the unified coordinate system; and according to the current pose, performing real-time reconstruction and splicing on the scanning data to obtain a three-dimensional model of the oral cavity region in a unified coordinate system. According to the method, the current pose of the intraoral scanner is determined by utilizing the tracking data, and the current pose is utilized to assist the currently acquired scanning data to perform real-time reconstruction and splicing so as to obtain the three-dimensional model of the oral cavity area, so that the scanning experience is improved, the splicing position control and strategy learning cost of a user of the intraoral scanner is reduced, and the user experience is improved. The purpose that a user can acquire oral data at multiple angles in the mouth at will is achieved, and the popularization rate of an intraoral scanner is increased.

A surgical navigation system including an optical tracking device, an optical localizer configured to optically track the optical tracking device, a mount assembly supporting the optical localizer, and a processor. The processor is configured to transmit commands to the mount assembly for actuating the mount assembly to position the optical localizer where there is line of sight between the optical localizer and the optical tracking device.

The application relates to a lower limb length determination method, device and computer equipment based on hip replacement, which comprises the following steps: acquiring a medical image of a hip joint part, determining a position of an anterior superior iliac spine and a position of a lesser trochanter from the medical image; acquiring a center position of an acetabular liner according to a first optical tracker array installed on an acetabular cup assembly device, and acquiring a ball center position of a femoral head prosthesis according to a second optical tracker array installed on a femoral stem prosthesis; obtaining a pelvic side lower limb length according to the position of the anterior superior iliac spine and the center position of the acetabular liner; obtaining a femoral side lower limb length according to the position of the lesser trochanter and the ball center position of the femoral head prosthesis; and obtaining a target lower limb length based on the pelvic side lower limb length and the femoral side lower limb length. The method can avoid the problem of inaccurate lower limb length calculation caused by the disengagement of the prosthesis ball center from the liner center in hip joint surgery, and improves the accuracy of the determined lower limb length.

The present subject matter provides an orthopedic instrument may include a first end portion, a handle portion and an optical tracker. The first end portion is configured as a validation device having at least a first surface configured to validate a first resected surface of a bone of the knee. The first end portion has one or more surfaces with a plurality of teeth configured to remove material from the first resected surface. The handle portion is coupled to the first end portion. The optical tracker is coupled to the handle portion.

A system and method for registering and tracking anatomical structures during surgical procedures by leveraging continuously updated 3D topological data of objects within the surgical field. Registration allows different datasets such as preoperative CT scans and intraoperative 3D scans to be aligned, combined, and transformed into a common coordinate space, enabling more precise surgical planning and execution. Tracking involves continuously registering these datasets over time, monitoring changes in position or orientation, and keeping objects aligned within the common coordinate space, updating the spatial alignment of registered objects multiple times per second, which allows for dynamic monitoring of anatomical structures and surgical tools as they move throughout the procedure. Unlike traditional systems that rely on physical optical markers (OMs) and optical tracker constellations (OTCs), the system and method disclosed herein utilizes the data captured by a 3D scanner to perform Continuous Anatomic Auto Tracking (CAAT).

An optical tracker and a surgical device, the surgical device including a shaft defining a longitudinal axis, wherein the shaft has a first shaft portion configured to be inserted into a patient and a second shaft portion configured to be located outside the patient when the first shaft portion is inserted in the patient. The surgical device further includes an actuation member actuatable relative to the first shaft portion and an operation member operable relative to the second shaft portion, the operation member configured to actuate the actuation member when operated. In addition, the surgical device includes a tracker coupled with the operation member such that operation of the operation member causes the tracker to move relative to the shaft (e.g., rotate about the longitudinal axis).

We provide an optical tracker that can be used with handheld surgical instruments. [Solution] The optical tracker comprises a tracker frame, which includes a mounting body defining an instrument engagement opening having a longitudinal axis, and an offset body projecting proximal to the mounting body. The instrument engagement opening is configured to receive the proximal region of a surgical instrument so that the longitudinal axis of the tracker is aligned with the axis of the surgical instrument. Three radial portions of equal proportions define the longitudinal axis and collectively surround it. The tracker further comprises at least six markers, which are arranged to form at least two arrays coupled to the tracker frame, and are positioned so that at least one marker is positioned within each radial portion. A portion of each array is coupled to the offset body and positioned proximal to the mounting body.

A system and method for registering and tracking anatomical structures during surgical procedures by leveraging continuously updated 3D topological data of objects within the surgical field. Registration allows different datasets such as preoperative CT scans and intraoperative 3D scans to be aligned, combined, and transformed into a common coordinate space, enabling more precise surgical planning and execution. Tracking involves continuously registering these datasets over time, monitoring changes in position or orientation, and keeping objects aligned within the common coordinate space, updating the spatial alignment of registered objects multiple times per second, which allows for dynamic monitoring of anatomical structures and surgical tools as they move throughout the procedure. Unlike traditional systems that rely on physical optical markers (OMs) and optical tracker constellations (OTCs), the system and method disclosed herein utilizes the data captured by a 3D scanner to perform Continuous Anatomic Auto Tracking (CAAT).

The invention provides an identification and tracing tool, a kit, a medical navigation system, a method for identifying and tracking an identified object through the identification and tracing tool, a program product and a control device. Wherein the marking and tracing tool comprises a tracing array and a pattern (3), the tracing array comprises a support (1) and a plurality of tracing elements (2) arranged on the support (1), and the plurality of tracing elements can be tracked by an optical camera; the pattern can be identified to identify the identification and tracer tool. According to the invention, the self-identification function is realized by a pattern with stronger self-identification capability, such as a two-dimensional code. The tracing array only needs to meet the'tracing 'requirement. Therefore, the defect that in the prior art, self-identification of the optical tracer needs to be met through arrangement of tracing elements is overcome, and the limitation on the array design number is broken through. The production cost and the purchase cost of the user are reduced, the operation of the user can be simplified, and the operation accuracy and the operation efficiency are improved.

The application discloses a kind of missile outer surface quality intelligent total inspection method and device, wherein, the method comprises: constructing global measurement coordinate system;According to the measurement of optical tracker to the missile to be inspected, the overall pose of the missile to be inspected in global measurement coordinate system is obtained;According to the missile outer surface three-dimensional point cloud of each inspection section and the overall pose of the missile to be inspected in global measurement coordinate system, the point cloud splicing compensation value of each inspection section is obtained;According to the point cloud splicing compensation value of each inspection section, the point cloud splicing accuracy of each section of outer surface is calibrated, and the missile full outer surface three-dimensional model is reconstructed and generated;The problem image screened is mapped to the missile full outer surface three-dimensional model;According to the missile full outer surface three-dimensional model, the geometric dimension value, surface appearance and identification inspection result are obtained, and the geometric dimension value, surface appearance and identification inspection result are compared with the preset total inspection process requirement to obtain total inspection result.The application has the advantages of high-precision measurement, high measurement point density, high inspection efficiency, strong flexible combination expansion capability.