US 12,137,984 B2
Technique of determining a pose of a surgical registration device
Marc Kaeseberg, Biesenthal (DE); Christopher Oezbek, Berlin (DE); Markus Finke, Berlin (DE); and Christian Winne, Berlin (DE)
Assigned to Stryker European Operations Limited, Carrigtwohill (IE)
Filed by Stryker European Operations Limited, Carrigtwohill (IE)
Filed on Jan. 6, 2021, as Appl. No. 17/142,341.
Claims priority of application No. 20151023 (EP), filed on Jan. 9, 2020.
Prior Publication US 2021/0212768 A1, Jul. 15, 2021
Int. Cl. A61B 34/20 (2016.01); A61B 90/92 (2016.01); A61B 90/96 (2016.01); G06T 7/70 (2017.01); G06T 7/73 (2017.01); G16H 20/40 (2018.01); G16H 30/40 (2018.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 90/92 (2016.02); A61B 90/96 (2016.02); G06T 7/70 (2017.01); G06T 7/73 (2017.01); G06T 7/74 (2017.01); G16H 20/40 (2018.01); G16H 30/40 (2018.01); A61B 2034/2055 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02); A61B 2090/3937 (2016.02); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A computer-implemented method of determining a pose of a surgical registration device, wherein the surgical registration device comprises a surface and at least one optical pattern arranged on the surface, the method comprising:
obtaining an image of at least a first part of the surgical registration device in a first pose;
detecting the at least one optical pattern in the image;
obtaining surface model data describing a surface of at least a second part of the surgical registration device;
obtaining first location information indicating a location of the at least one optical pattern with respect to the surface of the surgical registration device;
determining, based on the at least one optical pattern, the surface model data and the first location information, a pose of the surface of the surgical registration device;
obtaining depth information describing three-dimensional coordinates of the surface of at least the second part of the surgical registration device in the first pose; and
determining, based on the determined pose of the surface of the surgical registration device, the surface model data and the depth information, an adjusted pose of the surface of the surgical registration device; and
wherein the determined pose of the surface of the surgical registration device and the adjusted pose of the surface of the surgical registration device each describe a relative spatial relationship between the surgical registration device and a sensor device comprising at least one sensor configured to obtain at least one data chosen from the depth information and the image;
wherein determining the pose of the surface of the surgical registration device comprises extracting information from the detected at least one optical pattern, the information indicating a known relative spatial relationship between the surgical registration device and a tracking system of a surgical navigation system; and
wherein the method further comprises determining, based on the adjusted pose of the surface of the surgical registration device and the known relative spatial relationship between the surgical registration device and the tracking system, a relative spatial relationship between the sensor device and the tracking system.