Optical tracking system and tracking method using the same

Patent metadata

Field	Value
Publication number	US-10307210-B2
Application number	US-201414391447-A
Country	US
Kind code	B2
Filing date	Apr 29, 2014
Priority date	Apr 30, 2013
Publication date	Jun 4, 2019
Grant date	Jun 4, 2019

Abstract

An optical tracking system and a method using the same capable of detecting an exact spatial position and a direction of a target regardless of the distance from the target to be calculated is disclosed. The optical tracking system and a method using the same according to an embodiment of the present invention has an effect of expanding an available area by detecting an exact spatial position and a direction of a target regardless of the distance from the target to be calculated, as well as, a system downsizing is also achieved by significantly reducing size of the marker unit compared with conventional system.

First claim

The invention claimed is:

1. An optical tracking system comprising:
at least one marker configured to be attached to a target, the at least one marker including therein:
at least one light source configured to irradiate light;
at least one pattern portion formed by a plurality of patterns and arranged to receive the light irradiated by the at least one light source, the received light passing the at least one pattern portion or being reflected by the at least one pattern portion;
a first lens arranged to receive the light, which has passed the at least one pattern portion or has been reflected by the at least one pattern portion, and configured to release a plurality of portions of the light, each released portion of the light having passed a specific point of the at least one pattern portion;

at least one camera including:
a second lens configured to receive and focus the light released from the first lens; and
an image sensor configured to form an image of the at least one pattern portion based on the focused light; and

a processor configured to calculate a spatial position and a direction of the at least one marker by using the image of the at least one pattern portion.

2. The optical tracking system of claim 1 , wherein the processor is configured to calculate the spatial position of the at least one marker by using a position and a size of the image of the at least one pattern portion, and to calculate the direction of the at least one marker by using a position and a size change of the at least one pattern portion for each area of the image of the at least one pattern portion.

3. The optical tracking system of claim 2 , wherein the processor is configured to:
calculate the spatial position of the at least one marker by comparing the position and the size of the image of the at least one pattern portion with a pre-stored reference position and a pre-stored reference size of an image of the at least one pattern portion; and
calculate the direction of the at least one marker by comparing the position and the size change of the at least one pattern portion for each area of the image of the at least one pattern portion with a pre-stored reference position and a pre-stored reference size change of the at least one pattern portion for each area of the image of the at least one pattern portion.

4. The optical tracking system of claim 1 , wherein the first lens comprises a fish-eye lens.

5. The optical tracking system of claim 1 , wherein the at least one marker further comprises a prism arranged to receive the light released from the first lens and configured to release the light to have a different angle of view.

6. A tracking method comprising:
by at least one light source included in at least one marker of an optical tracking system, irradiating light to at least one pattern portion included in the at least one marker, the at least one pattern portion formed by a plurality of patterns and arranged to receive the light irradiated by the at least one light source, the received light passing the at least one pattern portion or being reflected by the at least one pattern portion;
by a first lens included in the at least one marker, the first lens arranged to receive the light, which has passed the at least one pattern portion or has been reflected by the at least one pattern portion, releasing a plurality of portions of the light, each released portion of the light having passed a specific point of the at least one pattern portion;
by a second lens included in at least one camera of the optical tracking system, receiving and focusing the light released from the first lens;
by an image sensor included in the at least one camera, forming an image of the at least one pattern portion based on the focused light; and
by a processor of the optical tracking system, calculating a spatial position and a direction of the at least one marker by using the image of the at least one pattern portion.

7. The tracking method of claim 6 , wherein calculating the spatial position and the direction of the at least one marker comprises:
calculating the direction of the at least one marker by calculating a rotated angle of the at least one marker by using the image of the at least one pattern portion; and
calculating the spatial position of the at least one marker by using the image of the at least one pattern portion and the rotated angle of the at least one marker.

8. The tracking method of claim 7 , wherein calculating the direction of the at least one marker comprises:
measuring a position and a size change of the at least one pattern portion for each area of the image of the at least one pattern portion; and
calculating the rotated angle of the at least one marker by comparing a reference position and a reference size change of the at least one pattern portion for each area of an image of the at least one pattern portion, which are pre-stored in the processor, with the position and the size change of the at least one pattern portion for each area of the image of the at least one pattern portion.

9. The tracking method of claim 7 , wherein calculating the spatial position of the at least one marker comprises:
measuring a position and a size of the image of the at least one pattern portion; and
calculating the spatial position of the at least one marker by comparing a reference position and a reference size of an image of the at least one pattern portion which are pre-stored in the processor with the position and the size of the image of the at least one pattern portion.

10. The tracking method of claim 6 , wherein the first lens comprises a fish-eye lens.

11. The tracking method of claim 6 , wherein the at least one marker further comprises a prism arranged to receive the light released from the first lens and configured to release the light to have a different angle of view.

Assignees

• Koh Young Tech Inc
• Kyungpook Nat Univ Ind Academic Coop Found

Inventors

• Hong Jong-Kyu
• Lee Hyun-Ki
• Kim Min-Young
• Chae You-Seong

Classifications

• A61B2090/3983

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• A61B2034/2055

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• A61B90/39

  Markers, e.g. radio-opaque or breast lesions markers · CPC title

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B2034/2065

  Tracking using image or pattern recognition · CPC title