CPC A61B 34/20 (2016.02) [A61B 17/16 (2013.01); A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61B 34/70 (2016.02); G06T 7/00 (2013.01); G06T 7/74 (2017.01); A61B 2017/1602 (2013.01); A61B 2034/101 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2068 (2016.02); G06V 2201/03 (2022.01)] | 20 Claims |
1. A method of calibrating a surgical tool using a system comprising at least one infrared camera and one or more controllers, and wherein a tracker is coupled to the surgical tool for movement therewith, the method comprising the one or more controllers performing the steps of:
acquiring one or more first exposure infrared images of the tracker captured at a first exposure with at least one infrared camera;
recognizing a pose of the tracker based on the one or more first exposure infrared images;
acquiring one or more second exposure infrared images of the surgical tool captured at a second exposure with the at least one infrared camera, wherein the second exposure is different than the first exposure with respect to one or both of: exposure time and level of infrared illumination;
recognizing a geometry of the surgical tool based on the one or more second exposure infrared images;
correlating the recognized pose of the tracker and the recognized geometry of the surgical tool to define a relationship between the tracker and the surgical tool; and
calibrating the surgical tool based on the defined relationship.
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