초록 ▼

A method and apparatus for determining the position and orientation of a remote object relative to a reference coordinate frame includes a plurality of field-generating elements for generating electromagnetic fields, a drive for applying, to the generating elements, signals that generate a plurality

A method and apparatus for determining the position and orientation of a remote object relative to a reference coordinate frame includes a plurality of field-generating elements for generating electromagnetic fields, a drive for applying, to the generating elements, signals that generate a plurality of electromagnetic fields that are distinguishable from one another, a remote sensor having one or more field-sensing elements for sensing the fields generated and a processor for processing the outputs of the sensing element(s) into remote object position and orientation relative to the generating element reference coordinate frame. The position and orientation solution is based on the exact formulation of the magnetic field coupling as opposed to approximations used elsewhere. The system can be used for locating the end of a catheter or endoscope, digitizing objects for computer databases, virtual reality and motion tracking. The methods presented here can also be applied to other magnetic tracking technologies as a final "polishing" stage to improve the accuracy of their P&O solution.

대표청구항 ▼

[ What is claimed is:] [9.] A system for determining the location of a remote device comprising:a plurality of transducers operable to determine the location of a remote device in an operation zone, the transducers are electromagnetic and include one or more device transducers and one or more locato

[ What is claimed is:] [9.] A system for determining the location of a remote device comprising:a plurality of transducers operable to determine the location of a remote device in an operation zone, the transducers are electromagnetic and include one or more device transducers and one or more locator transducers;a remote device for placement in an operation zone, the remote device having the one or more device transducers; a locator operable away from, but within an interaction distance from, the remote device, the locator having the one or more locator transducers;a driver connected to sequentially energize one or more of the device transducers and/or the locator transducers;a processor operably connected to receive sensor signals from one or more of the transducers, each sensor signal on a given one of the transducers depending on the energizing of another of the transducers, the processor configured to iteratively determine at least two location parameters of the remote device in the patient using a plurality of equations of exact magnetic field coupling that remain valid for zero separation distance from the energized transducer to the transducer generating the sensor signal for validity; andwherein each of the transducers generates and/or senses an electromagnetic field.