Camera Array Layout for Low-Latency Surgical Tool Tracking
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Solution Overview
Problem
Existing mediated-reality systems face challenges in precisely tracking objects within a scene while maintaining low system latency and minimizing image distortions due to relative movements and misalignments between multiple cameras.
Innovation Solution
A camera array system with integrated depth sensors, high-resolution RGB cameras, and infrared trackers mounted on a common frame, which processes data from both trackers and cameras to triangulate the position of objects with high precision and low latency by focusing on regions of interest in camera images.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple cameras are used to reconstruct images in a mediated reality system, then the visualization capability is improved, but small relative movements and misalignments between cameras cause unwanted distortions in the reconstructed image
Solution Approach 1:
The patent introduces a calibration target with known geometry as an intermediary object between the cameras and the scene. This calibration target serves as a reference medium that enables precise measurement and correction of camera positions and orientations, thereby eliminating distortions caused by relative movements and misalignments while preserving the multi-camera visualization capability
2Speed
If object tracking is performed using multiple cameras to maintain low system latency, then the tracking speed is improved, but the precision of object position tracking deteriorates
Solution Approach 1:
The patent replaces traditional mechanical/optical tracking systems with a vision-based tracking system that uses multiple cameras to capture images and computationally determine object positions. This substitution enables high-speed tracking through efficient image processing while achieving high precision through multi-camera triangulation and calibration-based geometric calculations
3Measurement precision
If the entire image data from cameras is processed to track objects, then the tracking accuracy is improved, but the computational load and processing time increase
Solution Approach 1:
The patent extracts and processes only the relevant portions of image data for object tracking, rather than analyzing entire images. By focusing computational resources on specific regions containing tracked objects and utilizing calibration information to reduce the search space, the system maintains high tracking accuracy while significantly reducing computational load and processing time
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise and real-time tracking of surgical tools with reduced computational load, achieving sub-pixel accuracy and minimizing latency by leveraging the strengths of both tracker and camera data processing.
Implementation Method 1
a depth sensor configured to capture depth data of the scene using time of flight
Implementation Method 2
a plurality of infrared trackers configured to capture positional data of one or more objects within the scene
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
Camera arrays for mediated-reality systems and associated methods and systems are disclosed herein. In some embodiments, a camera array includes a support structure having a center, and a depth sensor mounted to the support structure proximate to the center. The camera array can further include a plurality of cameras mounted to the support structure radially outward from the depth sensor, and a plurality of trackers mounted to the support structure radially outward from the cameras. The cameras are configured to capture image data of a scene, and the trackers are configured to capture positional data of a tool within the scene. The image data and the positional data can be processed to generate a virtual perspective of the scene including a graphical representation of the tool at the determined position.