US 12,106,542 B2
Targets for tracking, and systems and methods for tracking the targets
Joseph Arthur Schipper, Kitchener (CA); Ryan Visee, Mississauga (CA); and Andre Novomir Hladio, Waterloo (CA)
Assigned to Intellijoint Surgical Inc., Kitchener (CA)
Filed by INTELLIJOINT SURGICAL INC., Kitchener (CA)
Filed on Mar. 7, 2022, as Appl. No. 17/688,848.
Claims priority of provisional application 63/158,491, filed on Mar. 9, 2021.
Prior Publication US 2022/0292807 A1, Sep. 15, 2022
Int. Cl. G06V 10/48 (2022.01); G06T 7/20 (2017.01); G06T 7/70 (2017.01)
CPC G06V 10/48 (2022.01) [G06T 7/20 (2013.01); G06T 7/70 (2017.01); G06V 2201/07 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A computer implemented method of tracking a target, the target having a planar surface with an optically detectable pattern thereon, and at least one optically detectable protrusion extending from the planar surface, the method comprising:
receiving image data including a representation of the target;
identifying the optically detectable pattern on the planar surface as represented in the image data;
identifying a shape of the at least one protrusion as represented in the image data;
determining a position of the target and an orientation of the target about a first axis perpendicular to the planar surface based on relative position and orientation of the identified optically detectable pattern; and
determining an orientation of the target about a second axis perpendicular to the first axis based on the shape of the at least one protrusion as represented in the image data.