METHOD FOR MAKING A THREE-DIMENSIONALLY TRACKABLE APPARATUS

摘要

A method for determining the 3D location and orientation of a fiducial reference comprises disposing the fiducial reference so as to render a part of the fiducial reference observable by a tracker; obtaining from the tracker scan data of the part of the fiducial reference that is observable by the tracker; obtaining predetermined geometric information about location points on the fiducial reference, the geometric information containing three-dimensional coordinates of the location points relative to the structure of the fiducial reference; identifying within the scan data at least three location points having coordinates in the predetermined geometric information; and determining from the scan data and the coordinates of the three identified location points in the predetermined geometric information the 3D location and orientation of the fiducial reference. A method is further provided for making a three-dimensionally trackable apparatus by monolithically integrating a vectorized passive tracking marker with the apparatus.

主权项

1. A method for making a three-dimensionally trackable apparatus having a working tip, the method comprising:
monolithically forming a three-dimensional passive tracking marker integral with a rigid positioning and orienting portion of the apparatus, the rigid positioning and orienting portion having a predetermined spatial relationship with respect to the working tip; obtaining a first machine-vision image of the mutually integral tracking marker and at least one portion; vectorizing the tracking marker by establishing based on the first machine-vision image and the predetermined spatial relationship a rotationally asymmetric pattern on the tracking marker.