US 12,472,005 B2
Methods and systems for tool tracking
Shakith Devinda Fernando, Eindhoven (NL); and Karl Catharina Van Bree, Eindhoven (NL)
Assigned to KONINKLIJKE PHILIPS N.V., Eindhoven (NL)
Appl. No. 18/027,484
Filed by KONINKLIJKE PHILIPS N.V., Eindhoven (NL)
PCT Filed Sep. 23, 2021, PCT No. PCT/EP2021/076143
§ 371(c)(1), (2) Date Mar. 21, 2023,
PCT Pub. No. WO2022/069328, PCT Pub. Date Apr. 7, 2022.
Claims priority of application No. 20198893 (EP), filed on Sep. 29, 2020.
Prior Publication US 2023/0372023 A1, Nov. 23, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 5/00 (2006.01); A61B 8/08 (2006.01); A61B 17/34 (2006.01); A61B 34/10 (2016.01); G06T 7/73 (2017.01)
CPC A61B 34/20 (2016.02) [A61B 5/0073 (2013.01); A61B 8/0841 (2013.01); A61B 17/3403 (2013.01); A61B 34/10 (2016.02); G06T 7/73 (2017.01); A61B 2017/3413 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method for determining an orientation of a tool for performing a medical intervention on a subject, the method comprising:
obtaining, using an image sensor, image data for an image of a surface of, or over, a subject, a tool adjacent the surface, and a tool shadow on the surface, the tool shadow resulting from light incident on the tool generated by way of at least one light source positioned at a predetermined position relative to the image sensor;
obtaining a representation of the surface;
segmenting a representation of the tool from the image data;
segmenting a representation of the tool shadow from the image data;
determining an elevation angle of the tool based on a geometric relationship between the representation of the surface, the representation of the tool, and the representation of the tool shadow, the elevation angle being the angle between the surface and the tool; and
determining an orientation of the tool relative to the surface based on the segmented representation of the tool, the segmented representation of the tool shadow, and the elevation angle.