SYSTEM AND METHOD FOR DETERMINING THE THREE-DIMENSIONAL LOCATION AND ORIENTATlON OF IDENTIFICATION MARKERS

摘要

A three-dimensional position and orientation tracking system comprises one or more pattern tags, each comprising a plurality of contrasting portions, a tracker for obtaining image information about the pattern tags, a database with geometric information describing patterns on pattern tags; and a controller for receiving and processing the image information from the tracker, accessing the database to retrieve geometric information, and comparing the image information with the geometric information. The contrasting portions are arranged in a rotationally asymmetric pattern and at least one of the contrasting portions on a pattern tag has a perimeter that has a mathematically describable curved section. The pattern tags may be borne on tracking markers that have a three-dimensional shaped surface. The tracking system can be implemented in a surgical monitoring system in which the pattern tags are attached to tracking markers or are themselves tracking markers. A method associated with the system employs the rotationally asymmetric patterns on the tags to determine the three-dimensional locations and orientations of items bearing the tags using non-stereo image information.

主权项

1. A three-dimensional position and orientation tracking system comprising:
a tracking marker bearing at least one pattern tag comprising a plurality of contrasting portions, at least one of the plurality of contrasting portions having a perimeter comprising a mathematically describable curved section, the tracking marker having a shape with a surface that extends in three dimensions, a tracker configured for obtaining image information about the at least one pattern tag; a database comprising geometric information describing a pattern on the at least one pattern tag; and a controller having a processor and memory, the controller in communication with the tracker and the database, the memory storing software that when executed by the processor is configured to receive and process the image information from the tracker; access the database to retrieve geometric information; and compare the image information with the geometric information to identify and obtain a three-dimensional orientation and a three-dimensional location of the at least one pattern tag.