Tool tracking systems, methods and computer products for image guided surgery
US8073528B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 30, 2007 |
| Grant date | Dec 6, 2011 |
| Priority date | — |
| Expiry date | Aug 29, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V2201/034
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
In one embodiment of the invention, a tool tracking system is disclosed including a computer usable medium having computer readable program code to receive images of video frames from at least one camera and to perform image matching of a robotic instrument to determine video pose information of the robotic instrument within the images. The tool tracking system further includes computer readable program code to provide a state-space model of a sequence of states of corrected kinematics information for accurate pose information of the robotic instrument. The state-space model receives raw kinematics information of mechanical pose information and adaptively fuses the mechanical pose information and the video pose information together to generate the sequence of states of the corrected kinematics information for the robotic instrument. Additionally disclosed are methods for image guided surgery.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.