US 12,357,397 B2
Methods and systems for calibrating instruments within an imaging system, such as a surgical imaging system
Nava Aghdasi, Jr., Kirkland, WA (US); and James Andrew Youngquist, Seattle, WA (US)
Assigned to Proprio, Inc., Seattle, WA (US)
Filed by Proprio, Inc., Seattle, WA (US)
Filed on May 9, 2023, as Appl. No. 18/314,733.
Claims priority of provisional application 63/339,792, filed on May 9, 2022.
Prior Publication US 2023/0355319 A1, Nov. 9, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 90/39 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/3937 (2016.02); A61B 2560/0233 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of tracking an instrument through a scene, the method comprising:
capturing images of the instrument with a plurality of cameras of an imaging system;
identifying common features of the instrument in the captured images;
generating a three-dimensional (3D) representation of the instrument based on the common features;
determining a reference frame of the instrument based on the generated 3D representation of the instrument;
determining a first transform between the reference frame of the instrument and a reference frame of the cameras;
determining a second transform between the reference frame of the cameras and a reference frame of a plurality of trackers of the imaging system;
determining a third transform between the reference frame of the trackers and a reference frame of a tracking structure attached to the instrument;
determining a fourth transform between the reference frame of the instrument and the reference frame of the tracking structure based on the first transform, the second transform, and the third transform;
tracking a position and orientation of the tracking structure through the scene with the trackers; and
applying the fourth transform to the position and orientation of the tracking structure to track a position and orientation of the instrument.