56 results about "Optical tracker" patented technology

The invention relates to the technical field of surgical action trajectory analysis and optimization guidance systems, in particular to a learner action trajectory analysis and optimization guidance system in surgical operation teaching, which simulates surgical actions through a hand-eye cooperative robot, captures the spatial positions of a learner and an instrument through an optical tracker, detects contact pressure through a spatial force sensor, and provides a guidance system for the learner action trajectory analysis and optimization. The data processing module generates action track data; the track analysis module compares a standard track and calculates a deviation index; the optimization guidance module generates suggestions accordingly, and the feedback execution module controls the robot to execute feedback actions to realize action optimization guidance; the system integrates a robot, a sensor, data processing and feedback control, the operation teaching effect is improved, the motion capture precision is improved by about 50%, and micron-sized motion deviation can be captured.

The invention relates to the technical field of face injection, in particular to a face precise injection system based on real-time B-ultrasonic imaging and a using method, and the method comprises a high-frequency ultrasonic imaging module which is provided with a deformable curved surface probe array; the image processing unit integrates a blood vessel segmentation algorithm, a three-dimensional reconstruction module and a dangerous area dynamic calibration function; the navigation positioning module comprises an electromagnetic positioner and an optical tracker; the injection executing mechanism is composed of a six-degree-of-freedom mechanical arm, a pressure feedback type injector and a needle tip microspur sensor; the main control unit is used for coordinating data interaction of all the modules and generating injection safety early warning; by adopting high-frequency ultrasonic imaging, the skin layer, fat layer, muscle and blood vessel structures can be clearly displayed, deviation caused by traditional touch typing injection is avoided, tiny blood vessels can be recognized through an AI blood vessel automatic segmentation algorithm, and therefore the risk of wrong injection in the blood vessels is remarkably reduced.

The invention relates to the technical field of depth data splicing in image analysis, in particular to a 3D point cloud data splicing method, system and device and a storage medium, and aims to solve the technical problems of low stability and precision of point cloud splicing in the prior art. The point cloud data of the object to be measured in the coordinate system of the scanner are converted to the coordinate system of the binocular optical tracker, a plurality of groups of point cloud data to be spliced are obtained, and a uniform reference is provided for subsequent point cloud splicing; then, after a plurality of groups of to-be-spliced point cloud data are respectively subjected to denoising, filtering and normalization processing, coarse registration is firstly carried out, the point cloud data are quickly aligned at an approximate position, fine registration is finally carried out, and the residual registration error is finely adjusted, so that the precision and the stability of point cloud splicing are greatly improved; and the spliced point cloud can reflect the real shape of the to-be-measured object more accurately.

Systems and methods of tracking the position of an endoscope within a patient's body during an endoscopic procedure is disclosed. The devices and methods include determining a position of the endoscope within the patient in the endoscope's coordinate system, capturing in an image fiducial markers attached to the endoscope by an external optical tracker, transforming the captured fiducial markers from the endoscope's coordinate system to the optical tracker's coordinate system, projecting a virtual image of the endoscope on a model of the patient's organ, and projecting or displaying the combined image.

The invention discloses a three-dimensional scanning method, device and system, a storage medium and a product, which are applied to a three-dimensional scanning system, and the three-dimensional scanning system comprises an optical tracker, M laser trackers and a scanner. Wherein M is an integer greater than or equal to 3; the method comprises the following steps: acquiring pose information of a scanner obtained when an optical tracker tracks the scanner; obtaining pose information of the optical tracker in real time through M laser trackers; wherein the positions of the M laser trackers are kept unchanged; and reconstructing scanning data obtained by dynamic scanning of the scanner based on the pose information of the optical tracker and the pose information of the scanner. According to the method, the high-precision laser trackers are matched with the optical trackers to realize the dynamic expansion of a large-range tracking and scanning working area, so that the optical trackers can transfer stations without the aid of mark points, and meanwhile, the plurality of laser trackers are utilized to obtain the real-time poses of the optical trackers, so that the expansion of the tracking and scanning system is facilitated, and the large-range three-dimensional scanning is realized.

Disclosed are a tracing device and self-compensation tracking method of an orthopedic surgery robot. The tracing device comprises a rigid body support, and a tracer is arranged on the rigid body support; and the method comprises the following steps of: acquiring a corresponding reference point cloud in an optical tracker coordinate system, and recording basic pose information of the tracing device in an optical tracker; calculating a pose conversion relation between a coordinate system where the robot is located and the optical tracker coordinate system, and determining the pose conversion relation; and in a robot navigation system, detecting a pose change of a tracking device in real time, and updating a conversion relation from an image coordinate system to the robot coordinate system in real time, so as to control effective execution of the robot.

The present invention relates to a heat exchanger for a compact electro-optical tracker, and provides a heat exchanger which is installed in a compact electro-optical tracker and cools the compact electro-optical tracker. The heat exchanger comprises: an outer case that is attached and fixed to the compact electro-optical tracker and has a plurality of ventilation holes formed in the surface thereof; a base plate that is coupled and fixed to the inside of an outer case; and a pulsating heat pipe that is radially arranged on the base plate along the longitudinal direction and cools the compact electro-optical tracker.

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).

The utility model relates to a wireless transmission optical tracking type 3D scanning control system, which belongs to the technical field of 3D scanning and comprises a 3D scanner, an optical tracking instrument, a 5G industrial base station, a 5G industrial gateway and a client. Wireless communication modules are arranged in the 3D scanner and the optical tracker; the 3D scanner is used for performing 3D scanning on a to-be-scanned object to obtain a laser reflection image, the optical tracker is used for collecting three-dimensional data of the to-be-scanned object in synchronization with the 3D scanner, and the 5G industrial base station is used for sending the laser reflection image and the three-dimensional data to the client through the 5G industrial gateway; and the client is used for displaying the laser reflection image and the three-dimensional data to a user. According to the utility model, cable connection is not needed, the wiring difficulty of an industrial field is reduced, the mobility and flexibility of equipment are improved, and the anti-interference performance of data transmission of the equipment in a complex industrial environment is enhanced.

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.

According to the gingival knife capable of being positioned by the infrared vision system, a marker capable of being positioned by the infrared vision system is arranged on a gingival knife handle, space registration of the gingival knife and an optical tracker can be completed, the incision position and range of the gingival knife can be recognized and tracked, and therefore surgical operation of clinicians is facilitated; the invention relates to an identification frame, which is used for preventing soft tissue from being processed in an expanded range so as to reduce wounds, and is characterized by comprising an outer sleeve handle which sleeves an embedded handle extending upwards from the neck part of a knife body, a working end flap turning part and a working end cutting part which sequentially extend downwards from the neck part of the knife body, and an identification frame main rod which extends upwards from the top surface of the outer sleeve handle, an identification frame snakelike curve belt is coiled on the identification frame main rod in a winding manner in a step-by-step unfolding manner from bottom to top and crossing boundaries left and right, at least five infrared visual identification points are distributed on the identification frame snakelike curve belt, and a triangle formed by any three infrared visual identification points is different from a triangle formed by any other three infrared visual identification points.

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 invention provides an X-ray equipment navigation and simulation imaging method in an image navigation operation, and relates to the technical field of X-ray equipment image simulation, and the method comprises the following steps: setting a tracing target, and carrying out preoperative calibration to obtain camera internal reference of X-ray equipment and a pose transformation matrix from an optical tracer coordinate system on a machine head of the X-ray equipment to a camera coordinate system; a camera internal reference of the X-ray equipment, a pose transformation matrix from an optical tracer coordinate system on a machine head of the X-ray equipment to a camera coordinate system, a three-dimensional image of a patient and an image registration matrix are loaded in the intraoperative navigation software; according to the poses, detected by the optical tracer in real time, of the patient tracer and the optical tracer on the machine head of the X-ray equipment, a pose matrix of a virtual camera in the intra-operative navigation software in a three-dimensional image coordinate system is obtained; rendering the three-dimensional image into a two-dimensional gray projection image, and displaying the two-dimensional gray projection image; whether the region of interest is in the image view of the X-ray equipment or not can be previewed, and the position of the X-ray equipment can be adjusted in an auxiliary mode in an operation.

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.

Systems and methods of tracking the position of an endoscope within a patient's body during an endoscopic procedure is disclosed. The devices and methods include determining a position of the endoscope within the patient in the endoscope's coordinate system, capturing in an image fiducial markers attached to the endoscope by an external optical tracker, transforming the captured fiducial markers from the endoscope's coordinate system to the optical tracker's coordinate system, projecting a virtual image of the endoscope on a model of the patient's organ, and projecting or displaying the combined image.

Systems and methods for femoral medial condyle spherical center identification and tracking are described herein. Once the spherical center of the medial condyle is identified, the spherical center is tracked using a pin or internal reference. The spherical center may be used to provide a key kinematic motion reference, such as when the medial condyle is adjusted during a surgical procedure. The tracking may be used to provide optical tracking, inertial tracking, or other tracking. In contrast with surface-mounted optical trackers, the spherical center tracking is not lost during resection (e.g., removal) of a bone surface. Tracking the medial condyle spherical center may reduce or eliminate the need for a surface-mounted optical tracker or preoperative 3-D modeling or of the joint.

The present invention relates to the technical field of depth data stitching in image analysis, and specifically to a 3D point cloud data stitching method, system, device, and storage medium. To solve the technical problem of low stability and accuracy in point cloud stitching in the prior art, the present invention first converts the point cloud data of the object to be measured in the scanner coordinate system to the binocular optical tracker coordinate system based on the conversion matrix from the scanner to the binocular optical tracker, obtaining several groups of point cloud data to be stitched, providing a unified benchmark for subsequent point cloud stitching; then, after the several groups of point cloud data to be stitched are respectively denoised, filtered, and normalized, rough registration is first performed to quickly align the point cloud data at approximately positions, and finally fine registration is performed to finely adjust the remaining registration errors, thereby greatly improving the accuracy and stability of point cloud stitching and enabling the stitched point cloud to more accurately reflect the true shape of the object to be measured.

A surgical navigation system comprising:-a surgical tool (1) having a reference region (Zref); -an optical tracker (T) arranged to track the pose of the surgical tool (1) and having fiducial markers (M1-M8); -a stereo camera (2) arranged to capture an image (20) of Ntot fiducial markers (M1-M8), where Ntot is an integer greater than or equal to 4; -a data processor (DP) configured to perform the steps of: a) identifying Ntot fiducial markers (M1-M8) from an image (20) captured by the stereo camera (2) and determining the positions of the Ntot fiducial markers (M1-M8); b) generating a set of patterns (P1-P3), each pattern (P1-P3) having M fiducial marks, where M is an integer greater than or equal to 3 and strictly less than Ntot; the pattern set (P1-P3) comprises N fiducial marks (M1-M8), wherein N is an integer less than or equal to Ntot; c) for each pattern (P1-P3) of the set generated in step b):-extracting the positions of its corresponding M fiducial marks (M1-M8) from step a); -calculating the pose of the reference zone (Zref) in the reference frame as a function of the extracted positions of the corresponding M fiducial markers (M1-M8); d) applying a criterion to compare the pose of the reference region (Zref) calculated in step c) with each other for the set of patterns (P1-P3), the criterion being designed to detect the presence of at least one partially occluded fiducial mark (Mpo) within the N fiducial marks (M1-M8).

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.

The present invention discloses a positioning system for radiotherapy. The system includes: a bed board, on which a measurement tooling is installed, and a marking ball is installed on the measurement tooling; a robotic arm, which is connected to the bed board and is used to adjust the position of the bed board; an optical tracker, which is used to measure the position coordinates of the marking ball in real time; a positioning control device, which is respectively connected to the robotic arm and the optical tracker, and is used to obtain the position deviation and attitude angle deviation of the robotic arm according to the position coordinates of the marking ball, and to correct the positioning of the bed board by the robotic arm according to the position deviation and attitude angle deviation. Thus, this system improves the accuracy of proton and heavy ion radiotherapy positioning without affecting the treatment rate and treatment effect.

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

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.

There are provided tracker coupling apparatus for coupling an optical tracker to a patient anatomy. An apparatus comprises a body having a bone coupling interface located at a first end of the body, for coupling the apparatus to the bone, and a second end that comprises a tracker coupling interface to couple to the tracker. The second end is connected to the first end by an extension member to laterally space the tracker coupling interface from the bone coupling interface, e.g. to move the tracker away from an incision. In a resection guided embodiment, an apparatus comprises a body having a tracker coupling interface on an upper surface and a plurality of bone engaging projections extending from an under surface. Some projections are configured for positioning the platform in a same repeatable mounting position. The mounting position is defined by a cut line and an impression defined by the platform.