US 12,299,907 B2
Methods and systems for imaging a scene, such as a medical scene, and tracking objects within the scene
David Julio Colmenares, Seattle, WA (US); James Andrew Youngquist, Seattle, WA (US); Adam Gabriel Jones, Seattle, WA (US); Thomas Ivan Nonn, Kenmore, WA (US); and Jay Peterson, Seattle, WA (US)
Assigned to PROPRIO, INC., Seattle, WA (US)
Filed by Proprio, Inc., Seattle, WA (US)
Filed on Jun. 18, 2024, as Appl. No. 18/747,172.
Application 18/747,172 is a continuation of application No. 17/736,485, filed on May 4, 2022, granted, now 12,051,214.
Application 17/736,485 is a continuation of application No. 17/173,614, filed on Feb. 11, 2021, granted, now 11,354,810, issued on Jun. 7, 2022.
Application 17/173,614 is a continuation of application No. 15/930,305, filed on May 12, 2020, granted, now 10,949,986, issued on Mar. 16, 2021.
Prior Publication US 2024/0338832 A1, Oct. 10, 2024
Int. Cl. G06T 7/292 (2017.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01); G06T 7/70 (2017.01); G06T 7/80 (2017.01); G06T 11/00 (2006.01); H04N 5/262 (2006.01); H04N 5/265 (2006.01); H04N 23/54 (2023.01); H04N 23/698 (2023.01); H04N 23/90 (2023.01)
CPC G06T 7/292 (2017.01) [A61B 34/20 (2016.02); A61B 90/361 (2016.02); A61B 90/50 (2016.02); G06T 7/70 (2017.01); G06T 7/80 (2017.01); G06T 11/00 (2013.01); H04N 5/2628 (2013.01); H04N 5/265 (2013.01); H04N 23/54 (2023.01); H04N 23/698 (2023.01); H04N 23/90 (2023.01); A61B 2034/2057 (2016.02); A61B 2090/364 (2016.02); A61B 2090/371 (2016.02); G06T 2207/10048 (2013.01); G06T 2207/30012 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An imaging system for imaging a scene, comprising:
a sensor array comprising:
a support structure;
a depth sensor fixedly coupled to the support structure and configured to capture depth data of the scene;
a plurality of cameras fixedly coupled to the support structure and configured to capture image data of the scene; and
a plurality of trackers fixedly coupled to the support structure and configured to capture positional data of an instrument within the scene, wherein each of the depth sensor, the cameras, and the trackers has a different field of view that is fixed relative to the support structure; and
an arm coupled to the sensor array, wherein the arm is movable in at least three degrees of freedom to move the sensor array about the scene to position the fields of view of the depth sensor, the cameras, and the trackers at a desired position and orientation relative to the scene while the fields of view of the depth sensor, the cameras, and the trackers remain fixed relative to the support structure.