Flexible tracker systems

Abstract

An apparatus and method for tracking the position of one or more connected rigid bodies using markers attached to the rigid bodies by flexible connectors. Systems based on this method are comprised of flexible connectors, a position tracking system and a data processing algorithm to determine the positions and orientations of the rigid bodies. Variations in the methods of attachment of the flexible connectors, the means by which flexibility in the connector is produced, and in the layout of the markers are presented.

What is claimed is: 
     
         1 . A system for measuring the pose in space of one or more connected rigid bodies, said system comprising:
 a. One or more flexible connectors, each of said flexible connectors comprising at least three components:
 i. A proximal portion comprising at least one marker 
 ii. A flexible portion allowing angular deflection in at least one direction 
 iii. A distal portion comprising an attachment element for attaching the said flexible connector to said rigid bodies 
   b. Optionally, zero or more rigid connectors, each of said rigid connectors comprising at least one marker and attached to one of said rigid bodies   c. A position tracking system for measuring at least the position in space of at least one of the markers attached to said flexible connectors or said optional rigid connectors   d. A data processing system for estimating the pose of the said rigid bodies based on the measurements of the said markers reported by the said tracking system.