Medical wide field of view optical tracking system
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01B-011/14
G01S-003/784
G01S-005/16
A61B-008/00
G01B-011/00
A61B-005/06
A61B-005/055
A61B-006/12
A61B-006/00
출원번호
US-0085960
(2013-11-21)
등록번호
US-8885177
(2014-11-11)
발명자
/ 주소
Ben-Yishai, Rani
Charny, Adi
Yahav, Dror
Zommer, Shahaf
Efrat, Ilan
출원인 / 주소
Elbit Systems Ltd.
대리인 / 주소
Brown Rudnick LLP
인용정보
피인용 횟수 :
2인용 특허 :
14
초록▼
A medical Wide-Field-Of-View optical-tracking-system for determining the position and orientation of a target-object in a reference coordinate system. The system includes at least three light-emitters, at least one optical-detector and a processor. The processor is coupled with each optical-detector
A medical Wide-Field-Of-View optical-tracking-system for determining the position and orientation of a target-object in a reference coordinate system. The system includes at least three light-emitters, at least one optical-detector and a processor. The processor is coupled with each optical-detector. One optical-detector is a Wide-Field-Of-View optical detector, which acquires an image of the light-emitters within the field-of-view thereof. Each Wide-Field-Of-View optical-detector includes an optical-sensor and two optical-receptors. The processor determines the position and orientation of the target-object in the reference coordinate system according to representations of the light-emitters. Each light-emitter is within the field-of-view of an optical-detector. Each optical-detector and each light-emitter is attached to one of the target-object and a reference-location. The target-object and the reference-location are respective elements in a tuple including two elements from a group consisting of a display, a patient-body-location, a-medical-tool, physician-body-location, and a fixed-position.
대표청구항▼
1. A medical Wide Field Of View optical tracking system for determining the position and orientation of a target object in a reference coordinate system comprising: at least three light emitters;at least one optical detector, at least one of said at least one optical detector being a Wide Field Of V
1. A medical Wide Field Of View optical tracking system for determining the position and orientation of a target object in a reference coordinate system comprising: at least three light emitters;at least one optical detector, at least one of said at least one optical detector being a Wide Field Of View optical detector, said Wide Field Of View optical detector acquiring at least one image of at least one light emitter within the field of view of said Wide Field Of View optical detector, each of said at least one Wide Field Of View optical detector including: an optical sensor, for sensing light received from said at least one light emitter within the field of view of said Wide Field Of View optical detector; andat least two optical receptors, optically coupled with said optical sensor, each of said optical receptors including an entrance pupil, said optical receptors being spatially spaced apart from each other, each of said optical receptors projecting a different angular section of an observed scene on said optical sensor;a processor, coupled with each of said at least one optical detector, said processor determining the position and orientation of said target object in said reference coordinate system, at least according to representations of said at least three light emitters,wherein, each of said at least three light emitters is within the field of view of at least one of said at least one optical detector,wherein each one of said at least one optical detector and each one of said at least three light emitters is adapted to be attached to a respective one of said target object and a reference location, said reference location being associated with said reference coordinate system, andwherein said target object and said reference location are respective elements in a tuple including two elements from a group consisting of a display, a patient body location, a medical tool, physician body location, and a fixed position. 2. The medical Wide Field Of View optical tracking system according to claim 1 including at least two optical detectors, at least one of said at least two optical detectors is said Wide Field Of View optical detector, wherein each of said at least one Wide Field Of View optical detector and the at least one other optical detector are adapted to be attached to a respective different one of said target object and said reference location. 3. The medical Wide Field Of View optical tracking system according to claim 2, wherein each of said at least two detectors is a Wide Field Of View optical detector. 4. The medical Wide Field Of View optical tracking system according to claim 2, wherein said at least three light emitters are arranged in one of the configurations which at least include: at least two light emitters attached to said target object and at least one light emitter attached to said reference location; andat least two light emitters attached to said reference location and at least one light emitter attached to said target object. 5. The medical Wide Field Of View optical tracking system according to claim 1 further including said display for displaying one of a real-time image, a model of a region of interest of a patient, navigational information, a representation of a medical tool. 6. The medical Wide Field Of View optical tracking system according to claim 5, wherein said at least one of said real-time image, said model of a region of interest of a patient, said navigational information, said representation of a medical tool, is registered with one of the respective coordinate system of at least another one of said real-time image, said model of a region of interest of a patient, said navigational information, said representation of a medical tool and said reference coordinate system. 7. The medical Wide Field Of View optical tracking system according to claim 5, further including a database for storing said model, said navigational information and said representation of a medical tool. 8. The medical Wide Field Of View optical tracking system according to claim 5, wherein said display is a head mounted display donned by a physician. 9. The medical Wide Field Of View optical tracking system according to claim 8 wherein said tuple includes at least said head mounted display and a patient and said processor determines at least the relative orientation between said head mounted display and said patient, wherein said processor renders the displayed ones of said model said navigational information said representation of a medical tool and said real-time image at an orientation corresponding to said relative orientation between said head mounted display and said patient, andwherein said head mounted display displays the rendered model to said physician. 10. The medical Wide Field Of View optical tracking system according to claim 8, wherein said tuple includes at least said head mounted display and a medical tool and said processor determines at least the relative orientation between said head mounted display and said medical tool, wherein said processor constructs a visual representation of said medical tool, andwherein said head up display further displays said visual representation of said medical tool to said physician. 11. The medical Wide Field Of View optical tracking system according claim 8, wherein the angle between the optical axis of said head mounted display and the optical detector attached to said head mounted display is fixed, and wherein said processor adjusts said orientation of the displayed ones of said model said navigational information said representation of a medical tool and said real-time image to account for said angle. 12. The medical Wide Field Of View optical tracking system according to claim 5, wherein said display is a hand held display. 13. The medical Wide Field Of View optical tracking system according to claim 5, wherein said tuple includes at least a medical tool, said medical tool being a real-time imager, said real-time imager acquires said real-time image. 14. The medical Wide Field Of View optical tracking system according to claim 13, wherein said real-time imager being one of: an ultrasound imager;a laparoscopic camera;a X-ray imager located on a C-arm; anda real-time MRI imager. 15. The medical Wide Field Of View optical tracking system according to claim 1, wherein at least one of said at least three light emitters is a light emitting diode. 16. The medical Wide Field Of View optical tracking system according to claim 1, wherein at least one of said at least three light emitters is a light reflector. 17. The medical Wide Field Of View optical tracking system according to claim 1, wherein said processor further associates each representation with a respective one optical receptor projecting the light received from said at least one light emitter on said optical sensor. 18. The medical Wide Field Of View optical tracking system according claim 17, wherein said position and orientation processor associates said at least one representation with a respective one optical receptor by tracking said representations. 19. The medical Wide Field Of View optical tracking system according to claim 17, wherein said position and orientation processor associates said at least one representation with a respective one optical receptor by determining a figure of merit for each association between said at least one representation and each optical receptor and selecting the association with the higher figure of merit. 20. The medical Wide Field Of View optical tracking system according to claim 17, wherein said position and orientation processor associates each one of said representations with a corresponding optical receptor, according to the geometric configuration of said at least two optical receptors. 21. The medical Wide Field Of View optical tracking system according to claim 1 wherein only at least one predefined region of interest within said at least one image is processed by at least one of said at least one optical detector and said processor, wherein the borders of said region of interest are determined according to the predicted location of a representation of said at least one light emitter in said at one image. 22. The medical Wide Field Of View optical tracking system according to claim 21, wherein said predicted location of said representation of said at least one light emitter in said at one image is determined based on the estimated relative orientation between the target object and the reference location as determined by a low accuracy tracker. 23. The medical Wide Field Of View optical tracking system according to claim 21, wherein said predicted location of said representation of said at least one light emitter in said at one image is determined according to the location of said representation of said light emitters in a previous at least one image and an estimation of motion of said target object. 24. The medical WFOV optical tracking system according to claim 1, wherein said a processor is wirelessly coupled with at least one of said at least one optical detector. 25. A medical Wide Field Of View optical tracking system for determining the position and orientation of a target object in a reference coordinate system comprising: at least one light emitter attached to said target object;at least one other light emitter attached to a reference location, said reference location being associated with said reference coordinate system;a Wide Field Of View optical detector acquiring at least one image of at least one light emitter within the field of view of said Wide Field Of View optical detector, said Wide Field Of View optical detector including: an optical sensor, for sensing light received from at least one of said at least one light emitter attached to said reference location; andat least two optical receptors, optically coupled with said optical sensor, each of said optical receptors including an entrance pupil, said optical receptors being spatially spaced apart from each other, each of said optical receptors projecting a different angular section of an observed scene on said optical sensor;another optical detector acquiring at least one image of at least one light emitters within the field of view of said at least one other optical detector; anda position and orientation processor, coupled with each of said at least one Wide Field of View optical detector, with each of said at least one other optical detector, said processor determining the position and orientation of each of said target object in said reference coordinate system, according to representations of said at least one light emitter attached said target object and at least one other light emitter attached to said reference location,wherein said target object and said reference location are one of respective elements in a tuple including two elements from a group consisting of a display, a patient body location, physician body location, and a medical tool,wherein each of said WFOV optical detector and said another optical detector is attached to a respective one of said elements,wherein one of said elements is designated as a reference location and the remaining one of said elements is designated as a target object, andwherein the total number of said light emitters is at least three.
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이 특허에 인용된 특허 (14)
Ellis Stafford M. (West Sussex GB2), Angular position sensors.
Krouglicof Nicholas (Montreal West CAX) McKinnon Gordon M. (Montreal CAX) Svoboda Jaroslav (Hudson Heights CAX), Optical position and orientation measurement techniques.
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