초록 ▼

System for sensing at least two points on an object for determining the position and orientation of the object relative to another object. Two light emitters mounted in spaced relation to each other on an external portion of an invasive probe remaining outside an object into which an invasive tip is

System for sensing at least two points on an object for determining the position and orientation of the object relative to another object. Two light emitters mounted in spaced relation to each other on an external portion of an invasive probe remaining outside an object into which an invasive tip is inserted are sequentially strobed to emit light. Three light sensors or detectors, the positions of which are known with respect to a predetermined coordinate system, detect the positions of the two light emitters positioned on the probe. A computer connected to the probe and to the light sensors receives data from the sensors and determines the position and orientation of the probe relative to the predetermined coordinate system. The computer then determines the position and orientation of the invasive portion of the probe inside the object by correlating the position of the invasive portion of the probe relative to the predetermined coordinate system with the position of a model of the object defined in relation to the predetermined coordinate system. A display device connected to the computer indicates the location of the invasive portion of the probe in the object by displaying a representation of the location of the invasive portion of the probe with respect to the model of the object.

대표청구항 ▼

1. A system for determining the position and orientation of at least two objects, at least one of which is moveable, in a three dimensional space defined by a coordinate system, which system comprises:a plurality of sensors disposed in spaced apart, non-linear, relationship with respect to each othe

1. A system for determining the position and orientation of at least two objects, at least one of which is moveable, in a three dimensional space defined by a coordinate system, which system comprises:a plurality of sensors disposed in spaced apart, non-linear, relationship with respect to each other and in known relation to said coordinate system; a first plurality of illuminatable points disposed in known spaced apart relationship with respect to each other and in known relationship to one of said at least two objects disposed within said coordinate system, wherein at least three of said illuminatable points are non-linear with respect to each other; a second plurality of illuminatable points disposed in known spaced apart relationship with respect to each other and in known relationship to another of said at least two objects disposed within said coordinate system; means to illuminate said first and second pluralities of illuminatable points, such that said illuminated points are distinguishable from each other, wherein the first and second pluralities of illuminatable points are sufficient to define the position and orientation of the said at least two objects, wherein radiation between said first and second pluralities of illuminatable points and at least one of said sensors defines a plurality of straight lines; means to detect a plurality of angles intercepted between said straight lines and at least one reference line; and means to convert at least some of said detected angles into determined locations of said first and second pluralities of illuminatable points, wherein said detected angles and the determined locations of said first and second pluralities of illuminatable points are sufficient to define a position and orientation of said objects at the time that said angles were formed.