Determination of center of rotation of a bone

Patent metadata

Field	Value
Publication number	US-10561345-B2
Application number	US-201515767336-A
Country	US
Kind code	B2
Filing date	Dec 11, 2015
Priority date	Dec 11, 2015
Publication date	Feb 18, 2020
Grant date	Feb 18, 2020

Abstract

A computer implemented method for determining a center of rotation of a bone, comprising the steps of: a) acquiring image data representing a plurality of images taken by a camera while the bone is being rotated about the center of rotation, wherein the images show a marker device attached to the bone; b) forming a plurality of image pairs from the image data, wherein each image pair comprises two different images; c) determining a first relative position of the marker device relative to the camera from a first image of an image pair; d) determining a second relative position of the marker device relative to the camera from a second image of the same image pair; e) calculating a transformation of the first relative position into the second relative position; f) repeating steps c) to e) for all image pairs to obtain a plurality of transformations; and calculating the location of the center of rotation of the bone relative to the marker device from the plurality of transformations.

First claim

The invention claimed is:

1. A computer implemented method for determining a center of rotation of a bone, comprising the steps of:
acquiring image data representing a plurality of images taken by a camera while the bone is being rotated about the center of rotation, wherein the images show a marker device attached to the bone;
forming a plurality of image pairs from the image data, wherein each image pair comprises two different images;
for each of the plurality of image pairs, obtaining transformations by:
determining a first relative position of the marker device relative to the camera from a first image of an image pair;
determining a second relative position of the marker device relative to the camera from a second image of the same image pair; and,
calculating a transformation of the first relative position into the second relative position;

calculating the location of the center of rotation of the bone relative to the marker device from the plurality of obtained transformations for each of the plurality of image pairs.

2. The method of claim 1 , further comprising the step of determining, for each image pair, a displacement of the camera between the points in time at which the images of the respective image pair were captured.

3. The method of claim 2 , wherein calculating the location of the center of rotation of the bone includes weighting the transformations depending on the displacements of the camera associated with the corresponding image pairs.

4. The method of claim 2 , further comprising the step of amending the first relative position or the second relative position associated with an image pair to compensate the displacement of the camera if the displacement associated with the corresponding image pair is above a predetermined threshold.

5. The method of claim 4 , wherein amending a relative position involves one of subtracting the displacement of the camera from the relative position or adding the displacement of the camera to the relative position.

6. The method of claim 2 , wherein the displacement of the camera is calculated from sensor data acquired from an inertial sensor attached to the camera.

7. The method of claim 2 , wherein the displacement of the camera is calculated from differences of positions within the first and second images of an image pair which show the same points in space.

8. The method of claim 7 , wherein a point in space is not a point on a marker device.

9. The method of claim 1 , wherein a pair of images comprises two consecutive images.

10. The method of claim 1 , wherein the transformation is represented by a 4×4 matrix.

11. The method of claim 1 , further comprising:
forming additional image pairs,
obtaining an additional transformation for each of the additional image pairs;
adding the additional transformation corresponding to each of the additional image pairs to the plurality of transformations for the plurality of image pairs to create a new plurality of transformations; and,
calculating the location of the center of rotation of the bone relative to the marker device for the new plurality of transformations if an accuracy of the location of the center of rotation is below a predetermined threshold.

12. The method of claim 1 , wherein the relative position of the marker device relative to the camera is the position of a co-ordinate system associated with the marker device in a co-ordinate system associated with the camera.

13. The method of claim 1 , wherein calculating a transformation of a first relative position into a second relative position takes into account that the transformation is a rotation about a fixed point or axis in space.

14. A non-transitory computer-readable program storage medium storing a computer program which, when executed by at least one processor of at least one computer, causes the computer to determine a center of rotation of a bone, comprising the steps of:
acquiring image data representing a plurality of images taken by a camera while the bone is being rotated about the center of rotation, wherein the images show a marker device attached to the bone;
forming a plurality of image pairs from the image data, wherein each image pair comprises two different images;
for each of the plurality of image pairs, obtaining transformations by:
determining a first relative position of the marker device relative to the camera from a first image of an image pair;
determining a second relative position of the marker device relative to the camera from a second image of the same image pair; and,
calculating a transformation of the first relative position into the second relative position;

calculating the location of the center of rotation of the bone relative to the marker device from the plurality of obtained transformations for each of the plurality of image pairs.

15. A system comprising at least one computer having at least one processor configured to determine a center of rotation of a bone, comprising:
acquire image data representing a plurality of images taken by a camera while the bone is being rotated about the center of rotation, wherein the images show a marker device attached to the bone;
form a plurality of image pairs from the image data, wherein each image pair comprises two different images;
for each of the plurality of image pairs, obtaining transformations by:
determining a first relative position of the marker device relative to the camera from a first image of an image pair;
determining a second relative position of the marker device relative to the camera from a second image of the same image pair; and,
calculating a transformation of the first relative position into the second relative position;

calculating the location of the center of rotation of the bone relative to the marker device from the plurality of obtained transformations for each of the plurality of image pairs.

Assignees

• Brainlab Ag

Inventors

• Brack Christian
• Schubert Mario

Classifications

• A61B5/1121 Primary

  Determining geometric values, e.g. centre of rotation or angular range of movement · CPC title

• A61B5/1127

  using markers · CPC title

• A61B5/4504

  Bones (A61B5/4547 takes precedence) · CPC title

• A61B5/4528

  Joints (A61B5/4533, A61B5/4538 take precedence) · CPC title

• A61B5/6878

  Bone · CPC title