Patent Application
20200163739
The present invention relates generally to a fiducial marker, and specifically to a marker that can be tracked optically.
During image guide surgery it is typically necessary to track objects used in the surgery, and/or elements of the patient undergoing the surgery. It may also be necessary to track and/or observe objects in other fields. A number of methods for performing such tracking or observation are known.
U.S. Pat. No. 4,863,238 to Brewster describes a reflective marker for marking an object such as a highway pole and the like by reflective light. The reflective marker comprises a support layer, and a top plate affixed thereto having die-cut portions adapted, when removed, to form openings which cooperate with the support layer to define shallow recesses in the marker.
U.S. Pat. No. 6,609,022 to Vilsmeier, et al. describes a method for supporting the treatment of a patient, including a navigation system detecting and tracking the positions of the patient, of his/her parts of the body, and of the target of the treatment and the treatment devices.
U.S. Pat. No. 7,364,314 to Nilsen, et al. describes optical structures and methods for manufacturing the same which include a substrate and a plurality of two-sided optical components disposed along the substrate. Retroreflective optical structures are also provided.
U.S. Pat. No. 7,874,686 to Rossner, et al. describes a reflective marker and a method for manufacturing the marker. The reflective marker includes an inner body and a reflective covering, and a reflective substance is applied to the inner body and forms the reflective covering together with pellets contained in the substance or applied after the substance has been applied.
U.S. Pat. No. 8,950,877 to Northey, et al. describes retroreflective sheeting that includes a first portion of prismatic retroreflective sheeting having a first cube corner structure that creates a first visual feature in the retroreflective sheeting and a second portion of prismatic retroreflective sheeting having a second cube corner structure.
US Patent Application 2011/0216411 to Reed, et al. describes retro-reflective sheeting comprising a flexible optical material film or substrate having a geometric optical surface opposite a base surface. The geometric optical surface includes a background pattern region of corner cubes arranged at a first orientation with respect to an edge of the retro-reflective sheeting.
US Patent Application 2012/0143050 to Heigl describes a reference foil comprising an unsymmetric marker foil device which includes spatially separated pieces of a marker material foil in an unsymmetric arrangement and/or at least one unsymmetric integral piece of the marker material foil. The reference foil and a carrier device for the same may be used for example in image-guided surgery.
US Patent Application 2012/0182605 to Hall, et al. describes passive infrared markers which are reflective in the thermal and/or near infrared wavebands.
US Patent Application 2015/0351863 to Plassky, et al. describes a marker for optical medical navigation, comprising a structure with at least one recess, and at least one supporting element, wherein each supporting element is configured to be accommodated within a particular recess.
US Patent Application 2016/0175064 to Steinle, et al. describes a medical navigation marker device comprising a light reflector, characterized in that the reflector features a marker pattern that points in more than one spatial direction.
German Patent DE202004011567 assigned to Aesculap AG describes how the position of a surgical instrument is defined by a marker integrated in the tool or a bone screw and is transmitted to a processing unit by infrared radiation reflected by a special element. The element is punched out of a suitable material preferably in a round shape and held in a frame located at the marker.
European Patent Application EP1640750A1 to Mosimann, et al. describes a retro-reflective device having at least a body comprising salient elements on an external surface of the body. The body is made of at least one first material entity made of a homogeneous compound of plastic material with on one hand elements entirely coated with at least one reflective layer and fully embedded inside the plastic material, and on the other hand salient elements partially coated with a same reflective layer.
PCT Patent Application WO2015058816 to Vasey, et al. describes a hybrid medical marker for use in a medical navigation system, the marker comprising a marker core which comprises a contrast medium and an outer surface which is at least partly light-reflective.
Documents incorporated by reference in the present patent application are to be considered an integral part of the application except that, to the extent that any terms are defined in these incorporated documents in a manner that conflicts with definitions made explicitly or implicitly in the present specification, only the definitions in the present specification should be considered.
An embodiment of the present invention provides a positioning marker, including:
a base having a retroreflective surface; and
a cover, which is fitted over and fastened to the base and has a plurality of openings through which the retroreflective surface is visible.
Typically, the openings are right conical frusta. The frusta may terminate in respective first shapes and second shapes smaller than the first shapes, and the second shapes contact the retroreflective surface when the cover is fastened to the base, forming respective retroreflectors. The respective retroreflectors may be arranged on a flat plane.
In a disclosed embodiment the retroreflective surface includes a base flat surface, and the cover includes a cover flat surface which mates with the base flat surface when the cover is fastened to the base, so that respective sections of the openings contact the retroreflective surface.
In a further disclosed embodiment the base includes a first sheet configured in a first plane, and the openings generate respective retroreflectors from the retroreflective surface and in the first plane when the cover is fastened to the base, the cover including a further opening, the marker including a second sheet having a further retroreflective surface configured in a second plane parallel to and distinct from the first plane, so that the further retroreflective surface is visible through the further opening when the cover is fastened to the base.
Typically, the further opening is a right conical frustum.
The base may include a central aperture, and the right conical frustum may penetrate the central aperture when the cover is fastened to the base.
Alternatively, there may a support protruding from the cover, the support including a support plane, aligned with the second plane, configured to fit to the second sheet.
A yet further disclosed embodiment may include a cover retainer which is configured to be fixedly connected to the cover and to retain the base in fixed contact with the cover, so as to fasten the base to the cover. Typically, the base includes a central aperture, the cover includes a first connecting element, and the cover retainer includes a second connecting element mating with the first connecting element so as to fasten the cover to the cover retainer and the base, and at least one of the connecting elements penetrates the central aperture.
In an alternative embodiment the retroreflective surface includes at least one of retroreflective tape and retroreflective paint.
There is further provided, according to an embodiment of the present invention, a method for producing a positioning marker, including:
forming a retroreflective surface on a base; and
fitting a cover over and fastening the cover to the base, wherein the cover has a plurality of openings through which the retroreflective surface is visible.
The present disclosure will be more fully understood from the following detailed description of the embodiments thereof, taken together with the drawings, in which:
In an augmented reality environment, as well as in other environments, it is often necessary to register frames of reference of different elements of a system being used. For example, in the case of augmented reality, the frame of reference of an assembly mounted on the head of a user of an augmented reality system typically needs to be registered with the scene being viewed through the assembly.
Embodiments of the present invention provide a positioning marker which facilitates the registration referred to above, by enabling a processor coupled to the augmented reality assembly to track the marker, and to maintain the tracking even when large changes of angle, subtended by the marker to the assembly, occur.
The positioning marker comprises a base, typically in the form of a rectangular plane sheet with a central aperture, and the sheet has a retroreflective surface. A marker cover is fitted over and is fastened to the base, and the cover has a plurality of openings through which the retroreflective surface of the base is visible. The openings in the cover are typically in the form of right conical frusta, the conical shape of the openings allowing retroreflectors formed in the retroreflective surface by the openings to be visible even when the large changes of angle referred to above occur.
The retroreflectors are typically configured to be in a given plane, and in order to enhance the tracking provided by the marker, the marker may comprise a further retroreflector located in a plane different from the given plane. The further retroreflector may be formed by providing a further opening in the form of a right conical frustum in the cover, the frustum of the further opening having a different depth from the depth of the frusta described above. Having all the openings of the cover in the form of frusta enables the retroreflectors formed by the openings to be visible even when large changes of angle occur.
In order to fixedly fasten the cover to the base the marker typically comprises a cover retainer which can be fixedly attached to the cover while fastening the base to the cover. Typically the base is “sandwiched” between the cover retainer and the cover, and the further reflector is also sandwiched between the between the cover retainer and the cover.
In the following, all directional references (e.g., upper, lower, upward, downward, left, right, top, bottom, above, below, vertical, and horizontal) are only used for identification purposes to aid the reader's understanding of the present invention, and do not create limitations, particularly as to the position, orientation, or use of embodiments of the invention.
Reference is now made to
System 20 is operated by medical professional 22, who wears an augmented reality assembly 24, described in more detail below with respect to
System 20 comprises and is under overall control of a processor 26. In one embodiment processor 26 is assumed to be incorporated within a stand-alone computer 28, and the processor typically communicates with other elements of the system, including assembly 24, wirelessly, as is illustrated in
The medical procedure exemplified here is on a patient 30, and during the procedure professional 22 gazes along gaze directions 32 at a region of interest (ROI) 34. ROI 34 typically, but not necessarily, comprises a portion of the patient. In embodiments of the present invention professional 22 enables processor 26 to identify the ROI by locating positioning marker 18, described in more detail below, at a predefined location with respect to ROI 34, e.g., the ROI may be a predefined distance to the right and a predefined distance below marker 18. As is also described below, processor 26 is able to track the location of marker 18, and thus, since the marker is at a predefined location with respect to ROI 34, the processor is able to track the location of the ROI.
Alternatively or additionally, positioning marker 18, or a marker substantially similar to marker 18, may be attached to a tool or other device used in the procedure. In this case processor 26 is able to track the marker and thus the tool or device attached to the marker. For clarity and simplicity, except where stated otherwise, in the following description marker 18 is assumed to be used as a stand-alone element for tracking ROI 34, but those having skill in the art will be able to adapt the description, mutatis mutandis, for the case when the marker is attached to a tool or other device to be tracked using the marker.
In some embodiments, combiner frames 82A and 82B are fixed to retaining structure 54 and vertical retaining rods 84A and 84B attached to the combiner frames support the optical combiners, so that the combiners are able to rotate about vertical axes defined by the rods. Retaining rods 84A and 84B, and thus combiners 52A and 52B, may be rotated independently of each other about their vertical axes by respective motors 86A and 86B, fixed to frames 82A and 82B. Motors 86, typically stepper motors, are controlled by processor 26 so as to rotate their attached combiners to known, typically different, fixed orientations with respect to their respective combiner frames.
Each optical combiner 52 is configured to at least partially transmit elements of a scene through the combiner, so that a portion 56 of patient 30 (
Optical combiners of various types are known in the art. One known type uses a semi reflective surface which transmits an image from an image source after it has passed through a set of lenses which correct deformations caused by the semi reflective surface of the combiner. Another known type uses a waveguide which projects the image directly to the eye of the viewer. Herein, by way of example, combiners 52 are assumed to be of the waveguide type.
Generally similar pixelated variable transparency screens 60A and 60B respectively coat a rear side, i.e., the side away from the eyes of professional 22, of combiners 52A, 52B. Screens 60 are active elements of system 20 and are formed of an array of pixels, the opacity of each of the pixels being controlled by processor 26.
Screens 60 are typically, but not necessarily, liquid crystal displays (LCDs) formed of a rectangular array of liquid crystal pixels. Alternatively, screens 60 are formed of MEMS (microelectromechanical systems). Further alternatively, screens 60 are formed of polymer dispersed liquid crystals (PDLCs).
Fixedly attached to arms of frame 54 are generally similar micro-projectors 64A and 64B. Each micro-projector is located and oriented so as to be able to project onto respective combiner 52A and 52B, a scene, and/or a visual indication, in a form suitable for redirection by the combiners to the left or right eye of professional 22. Micro-projectors 64 are active elements, and the projected scenes/indications are provided to the micro-projectors by processor 26. The projection and redirection are configured so that the images seen by the eyes of professional 22, absent any correcting lenses, appear to be at infinity, due to parallel light coming from the combiners and entering the pupils. In some embodiments assembly 24 comprises correcting lenses 88A, 88B which redirect light from combiners 52A, 52B so that the images appear to be closer than infinity to the professional's eyes.
At least one image capturing device 68 is attached to frame 54. In a disclosed embodiment there are two generally similar devices 68A and 68B, respectively aligned to be approximately orthogonal to planar combiners 52A and 52B, so as to be able to capture radiation of respective images of scenes viewed by the left and right eyes of professional 22. Typically, devices 68 comprise cameras configured to capture images of scenes viewed by the professional, including images of marker 18 in the visible spectrum.
In embodiments of the present invention, assembly 24 comprises a sensor 72, also herein termed a camera 72, which is configured to capture images of elements of a scene, including marker 18, in front of assembly 24. The images, which include images of marker 18, are produced from radiation projected by a projector 73 that is in the spectrum detected by camera 72. Projector 73 is located in close proximity to camera 72, so that radiation from the projector, that has been retroreflected, is captured by camera 72. The camera typically has a bandpass filter configured to block other radiation, such as that projected by surgical lighting. Typically, camera 72 and projector 73 operate in a non-visible region of the spectrum, such as in the near infra-red spectrum. As is described below, at least some retroreflected radiation is received from marker 18, and processor 26 uses the image of the marker produced by camera 72 from the received radiation to track the marker and ROI 34.
An assembly similar to assembly 24 is described in U.S. Pat. No. 9,928,629 to Benishti et al., which is incorporated herein by reference.
z=0 (1)
A center of sheet 80 is assumed to be at the origin of the xyz axes, i.e., at a location given by equation (2):
x=y=0 (2)
Flat planar sheet 80 has a lower flat plane surface 88.
Sheet 80 acts as a base for marker 18, and is also herein termed base 80. In embodiments of the present invention upper surface 86 of base 80 is retroreflective, and in one embodiment the surface is formed to be retroreflective by adhering retroreflective tape to the upper surface. However, other methods, such as covering with retroreflective paint, for making surface 86 retroreflective will be apparent to those having skill in the art, and all such methods are assumed to be within the scope of the present invention.
Fitted over, and fastened to, base 80 is an inflexible opaque base cover 90, which has a lower plane surface 92 and an upper surface 94. When cover 90 is fastened to base 80, as described below, surface 92 of the cover mates with upper surface 86 of the base.
Cover 90 has a plurality of openings 98, within the cover, which penetrate the top and bottom surfaces of the cover. Openings 98 are substantially congruent to each other, and each opening has the form of a right conical frustum, terminating in a first opening 102 in upper surface 94, and a second opening 106, smaller than opening 102 and herein termed smaller opening 106, in lower plane surface 92. Typically, as shown the figure and as assumed for clarity and simplicity in the following description, openings 102 and 106 are circular. However, embodiments of the present invention comprise other shapes for the openings, such as regular or irregular polygons, and all such shapes are assumed to be comprised within the scope of the present invention.
When cover 90 is fastened to base 80, surface 92 of the cover mates with the retroreflective upper surface of base 80, and smaller circular openings 106 contact base 80, forming retroreflective circles 96, herein termed retroflectors 96. By way of example, the figures illustrate cover 90 as having twelve openings, through each of which the retroreflective upper surface of base 80 is visible, but it will be understood that embodiments of the present invention may have fewer or more than twelve openings.
In one embodiment the centers of retroflectors 96 are formed on a square having a center on the z-axis. However, the spacing of the retroflectors on the square is configured to be non-symmetrical, so that processor 26 may determine a unique orientation of marker 18 from images of the retroflectors. In embodiments where the centers of retroflectors 96 are not formed on a square, the spacing of the retroflectors is also configured so that processor 26 may determine a unique orientation of marker 18 from images of the retroflectors.
By implementing openings 98 as frusta, it will be appreciated that the retroreflective upper surface of base 80 is visible, through the openings, from many different directions. This visibility facilitates the ability of processor 26 to track marker 18 using camera 72 if there is relative motion between the camera and the marker, for example if professional 22 moves.
The inventors have found that accurate tracking of marker 18, using images of the retroreflective upper surface formed by smaller circular openings 106, is contingent on accurate and consistent positioning of the smaller circular openings with respect to each other. Such accurate and consistent positioning is facilitated by separately producing the openings in the cover, and then attaching the base retroreflective surface to the cover, as in embodiments of the present invention. For example, in an embodiment where the cover is a square of approximately 54 mm side, the tolerances on the dimensions of openings 102 and 106 are +/−150 microns or less, and the angles of the frusta forming the openings have tolerances of 0.5° or less.
In order to fasten base 80 to cover 90, marker 18 comprises a cover retainer 110 which has an upper flat plane surface 114. When marker 18 is assembled, the upper flat surface of the cover retainer mates with lower surface 88 of marker base 80. Also, for assembly, cover 90 comprises a lip 95 an inner edge of which mates with a perimeter of retainer 110. In addition, and as described above, when marker 18 is assembled upper retroreflective surface 86 of base 80 mates with lower plane surface 92 of cover 90.
In addition, cover retainer 110 comprises one or more retainer connecting elements 118, which align with cover connecting elements 122 in cover 90. By way of example marker 18 comprises four elements 118 and four elements 122.
Retainer connecting elements 118 comprise cylindrical holes, also herein termed holes 118, which penetrate retainer 110, and cover connecting elements 122 comprise sprung anchors, also herein termed anchors 122, which are dimensioned to align with and penetrate holes 118.
In the assembled form of marker 18, i.e., when base 80 is fastened to cover 90 and cover retainer 110 mates with the lower surface of the base, anchors 122 hold the three entities (the cover, the base, and the cover retainer) fixedly in place. In order to act as marker anchors, anchors 122 are dimensioned so that in a compressed form they are able to penetrate holes 118. The holes and the anchors are further dimensioned to permit the anchors to expand to an uncompressed form when the base, the cover and the cover retainer are in their assembled state, so as to fixedly hold the marker elements in place. Typically, the elements of marker 18 may “snap” together, by anchors 122 reverting to their uncompressed form and engage ledges 124 in holes 118, by applying moderate pressure to the cover and the cover retainer.
Connecting elements for marker 18, other than the holes and anchors described above, will be apparent to those having skill in the art, and all such connecting elements are assumed to be comprised within the scope of the present invention.
Smaller circular openings 106, and the sections of the retroreflective upper surface exposed by the openings, are in a single plane, having an equation given by equation (1).
To further facilitate tracking of marker 18, the marker comprises an additional opening 130 in cover 90, and an associated additional retroreflective surface 134 formed on an additional sheet 136. Retroreflective surface 134 is typically formed in substantially the same manner as retroreflective surface 86, for example by adhering retroreflective tape to surface 134.
In some embodiments, rather than having an additional sheet upon a surface of which retroreflective material is formed, additional sheet 136 may be implemented as adhesive retroreflecting tape that is adhered to an internal surface of recessed portion 150 (described further below) of cover retainer 110. For clarity in the following description additional sheet 136 is assumed to have retroreflective material formed on surface 134, and those having ordinary skill in the art will be able to adapt the description, mutatis mutandis, for the case when sheet 136 is implemented as adhesive reflecting tape.
As explained below, additional opening 130 and additional retroreflective surface 134 are configured to form a section 138 of the additional retroreflective surface that is in a different plane from the plane of sections of the retroreflective upper surface formed by openings 106, i.e., from the plane defined by equation (1). Section 138 is in an xy plane indented or elevated from the plane of equation (1), and thus has an equation given by equation (3):
z=n (3)
where n is a non-zero number.
Typically section 138 is formed to be circular, and for simplicity in the following description it is considered to be circular. In the embodiment described above where the centers of retroreflectors 96 are on a square, section 138 is configured to be symmetrical with the square, i.e. to be located on the z-axis.
In the embodiment illustrated in
Additional opening 130 is formed, like openings 98, as a right conical frustum, and the opening is formed in a lower, downwardly-protruding, section 140 of cover 90. In section 140 opening 130 has a first circular opening 144 in upper surface 94, and a second, smaller, circular opening 148 in a lower surface of downwardly-protruding section 140. The frustum formed by additional opening 130 has a different depth from the depths of the frusta of openings 98.
When marker 18 is assembled, section 140 protrudes through aperture 84 of base 80, and enters into a recessed portion 150 of cover retainer 110. Sheet 136, with its retroreflective surface uppermost, is cemented onto an upper surface of portion 150. Smaller circular opening 148 and the upper surface of portion 150 are dimensioned so that when marker 18 is assembled, with its elements fixed in place, smaller circular opening 148 contacts sheet 136, and circular section 138 and its retroreflective surface is exposed by the circular opening and is visible through opening 130. Circular section 138 is herein also termed retroreflector 138.
By forming opening 130 as a frustum, retroreflector 138 is visible (as with retroflectors 96 of openings 98) from many different directions, so facilitating the ability of processor 26 to track marker 18 using camera 72. In the square embodiment referred to above, smaller circular opening 148 has a diameter of 5 mm, and opening 130 is a circular conical frustum having a conical angle of 120°.
In the embodiments described above the positions of the connecting elements (elements 118 and 122) are selected so as not to interfere with the functioning of retroreflectors 96 and 138. The positions of the connecting elements are provided by way of example, and those having ordinary skill in the art will be aware of other connecting element positions that do not interfere with the functioning of the retroreflectors. All such positions are assumed to be comprised within the scope of the present invention.
While the description above has addressed using tracking marker 18 to track ROI 34, those having ordinary skill in the art will be able to adapt the description, mutatis mutandis, if the marker is used for other tracking purposes, such as being attached to a tool in order to track the tool.
Rather than the additional opening 130 of cover 90, which forms an indented section 138, cover 290 comprises a support 228 for an elevated additional opening 230. Support 228 protrudes from cover 290. Opening 230, herein assumed to be generally similar to openings 98, is a right conical frustum terminating in a first opening 202 and a second opening 206, smaller than the first opening.
Second opening 206 is formed in a lower internal plane surface 292 of support 228.
To form marker 218 a base substantially identical to base 80, and having a retroreflective upper surface as described above for base 80, is fastened to a lower plane surface 294 of cover 290. A sheet similar to sheet 136 is fit to surface 292, the sheet having an upper reflective surface, visible through opening 206, and having dimensions modified from those for marker 18 so as to fit within support 228. A plane of the modified sheet aligns with lower internal plane surface 292. Marker 218 also comprises a cover retainer similar to retainer 110, but modified to support modified sheet 136 in contact with surface 292. The modifications referred to above will be apparent to those having ordinary skill in the art, and may be implemented without undue experimentation.
Cover 90 may be produced, for example, from a mold. Other methods for producing the cover will be apparent to those having skill in the art, but the method chosen should ensure that there is accurate and consistent positioning of smaller circular openings 106 and 148 with respect to each other. The material for the cover is typically an inflexible plastic such as polyimide.
In an initial assembly step 364 the marker elements are assembled generally as illustrated in
In a final assembly step 368, moderate pressure is applied to the upper surface of cover 90 and the lower surface of retainer 110, so that anchors 122 engage ledges 124 so as to fixedly connect all the elements of the marker. In the final assembly, base 80 and sheet 136 are effectively “sandwiched” between cover 90 and cover retainer 110.
It will be appreciated that the embodiments described above are cited by way of example, and that the present invention is not limited to what has been particularly shown and described hereinabove. Rather, the scope of the present invention includes both combinations and subcombinations of the various features described hereinabove, as well as variations and modifications thereof which would occur to persons skilled in the art upon reading the foregoing description and which are not disclosed in the prior art.
