US 11,806,090 B2
System and method for image based registration and calibration
Jean Stawiaski, Kirchzarten (DE); Fadi Ghanam, Schallstadt (DE); and David Hofmann, Freiburg (DE)
Assigned to MAKO Surgical Corp., Weston, FL (US)
Filed by MAKO Surgical Corp., Weston, FL (US)
Filed on Feb. 24, 2022, as Appl. No. 17/679,241.
Application 17/679,241 is a continuation of application No. 16/441,624, filed on Jun. 14, 2019, granted, now 11,291,507.
Claims priority of provisional application 62/698,502, filed on Jul. 16, 2018.
Prior Publication US 2022/0175467 A1, Jun. 9, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/73 (2017.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 17/16 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); G06T 7/00 (2017.01)
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
OG exemplary drawing
 
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.