Method, apparatus, and system for computer-aided tracking, navigation and motion teaching
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-009/00
G09B-023/28
A61B-019/00
출원번호
US-0223230
(2007-01-24)
등록번호
US-9082319
(2015-07-14)
국제출원번호
PCT/US2007/001897
(2007-01-24)
§371/§102 date
20100810
(20100810)
국제공개번호
WO2007/087351
(2007-08-02)
발명자
/ 주소
Shimada, Kenji
Geist, Emily M.
출원인 / 주소
Carnegie Mellon University
대리인 / 주소
Downs Rachlin Martin PLLC
인용정보
피인용 횟수 :
6인용 특허 :
7
초록▼
Methods, apparatuses, and systems for computer-aided tracking, navigation, and motion tracking. In one embodiment, a system for determining a spatial position, including a tracking device and a processor. The tracking devices has a working end, a reference end, a plurality of links connecting the wo
Methods, apparatuses, and systems for computer-aided tracking, navigation, and motion tracking. In one embodiment, a system for determining a spatial position, including a tracking device and a processor. The tracking devices has a working end, a reference end, a plurality of links connecting the working end to the reference end, wherein each link has at least one degree of freedom relative to an adjacent link, and a plurality of sensors measuring the orientation of the links in a plurality of degrees of freedom, wherein X is a minimum number of degrees of freedom about which information is required to define the spatial position. The processor receives information from the sensors and determine the spatial position of the working end of the tracking device relative to the reference end of the tracking device based on information from the sensors measuring Y degrees of freedom, wherein Y is greater than X.
대표청구항▼
1. A system for determining a spatial position of a tool manipulated within a workspace by a human, comprising: a tracking device designed and configured for tracking at least a portion of the tool during manipulation of the tool by the human within the workspace to perform a task, the tracking devi
1. A system for determining a spatial position of a tool manipulated within a workspace by a human, comprising: a tracking device designed and configured for tracking at least a portion of the tool during manipulation of the tool by the human within the workspace to perform a task, the tracking device including: a working end comprising the tool, wherein the working end is grasped and moved by the human during the manipulation and the tracking;a reference end spaced from the working end;a plurality of links connecting the working end to the reference end, wherein each link has at least one degree of freedom relative to an adjacent link, wherein the plurality of links are joined to one another with movable joints to form at least one link set between the reference end and the working end, the link set designed and configured to allow the plurality of links to move relative to one another as the human grasps and moves the working end during use of the tool to perform the task;a plurality of sensors measuring the orientation of the links in a plurality of degrees of freedom as the human grasps and moves the working end during use of the tool to perform the task, wherein X is a minimum number of degrees of freedom about which information is required to define the spatial position; anda processor receiving information from the sensors and determining the spatial position of the working end of the tracking device relative to the reference end of the tracking device based on information from the sensors measuring Y degrees of freedom, wherein Y is greater than X. 2. The system of claim 1, wherein the tracking device includes a plurality of working ends, with each working end connected to the reference end via a corresponding set of series-connected links and comprising a corresponding tool, wherein each corresponding set of series-connected links is designed and configured so that when the reference end is located for use of the tracking device with the workspace, the human can directly manipulate the corresponding tool within the workspace. 3. The system of claim 1, wherein the tracking device comprises a plurality of link paths and includes a plurality of reference ends, with each reference end is connected to the working end via the plurality of link paths. 4. The system of claim 1, wherein the tracking device includes: a plurality of working ends each comprising a corresponding tool to be directly manipulated within the workspace via grasping of the corresponding tool by the human; anda plurality of reference ends, wherein the working ends are connected to the reference ends via a plurality of sets of series-connected links. 5. The system of claim 1, wherein the links include: a first set of series-connected links connecting the reference end to the working end; anda second set of series-connected links connecting the reference end to the working end, wherein the first set of series connected links includes at least one link that is not in the second set of series-connected links. 6. The system of claim 1, wherein each link can rotate at least 360 degrees relative to an adjacent link. 7. The system of claim 1, wherein the links are connected by joints, and wherein the joints have resistance to motion sufficient for the tracking device to maintain a shape under its own weight. 8. The system of claim 7, wherein the resistance to motion of the joints is adjustable. 9. The system of claim 1, wherein the tool is connected to a link measuring at least one degree of freedom. 10. The system of claim 1, wherein the processor is connected to the tracking device via an electrical connection and wherein the processor receives information from the sensors via electrical signals transmitted on the electrical connection. 11. The system of claim 1, wherein the processor is connected to the tracking device via a wireless connection and wherein the processor receives information from the sensors via signals transmitted via the electrical connection. 12. The system of claim 1, further comprising at least one additional tracking device designed and configured for use in determining a spatial position of at least one corresponding additional tool directly manipulated within the workspace by the human, wherein the at least one additional tracking device includes: a working end comprising the at least one corresponding additional tool;a reference end;a plurality of links connecting the working end to the reference end, wherein each link has at least one degree of freedom relative to an adjacent link, wherein the plurality of links of the at least one additional tracking device are designed and configured so that, when the reference end of the at least one additional tracking device is located for use of the additional tracking device with the workspace, the human can directly manipulate the additional tool within the workspace via grasping of the at least one corresponding additional tool by the user; anda plurality of sensors measuring the orientation of the links in a plurality of degrees of freedom, wherein X is a minimum number of degrees of freedom about which information is required to define the spatial position;wherein the processor receives information from the sensors in the at least one additional tracking device and wherein the processor determines the spatial position of the working end of the at least one additional tracking device relative to the reference end of the at least one additional tracking device based on information from the sensors measuring Y degrees of freedom, wherein Y is greater than X. 13. The system of claim 1, further comprising a display connected to the processor. 14. The system of claim 13, wherein the processor sends signals to the display which cause the display to produce computer-generated images of real-time motion of the tool in the workspace. 15. The system of claim 13, wherein the processor sends signals to the display which cause the display to show a computer-generated image of a target object within the workspace and an image indicative of the spacial position of the working end relative to the target object. 16. The system of claim 15, wherein the target object is a portion of human anatomy. 17. The system of claim 1, wherein the reference end of the tracking device is connected to a reference pin attached to a human being. 18. The system of claim 1, further comprising: a second tracking device designed and configured for use in determining an additional spatial position of a second tool directly manipulated within the workspace via grasping by the human, wherein the second tracking device includes: a working end comprised of the second tool;a reference end;a plurality of links connecting the working end to the reference end, wherein each link has at least one degree of freedom relative to an adjacent link, wherein the plurality of links of the second tracking device are designed and configured so that, when the reference end is located for use of the second tracking device with the workspace, the human can directly manipulate the second tool within the workspace; anda plurality of sensors measuring the orientation of the links in a plurality of degrees of freedom, wherein X is a minimum number of degrees of freedom about which information is required to define the spatial position;a display connected to the processor;wherein the processor: receives information from the sensors in the second tracking device;determines the spatial position of the working end of the second tracking device relative to the reference end of the second tracking device based on information from the sensors measuring Y degrees of freedom, wherein Y is greater than X;sends signals to the display which cause the display to produce at least one image of a first tool model as a function of the spatial position of the working end of the tracking device determined by the processor; andsends signals to the display which cause the display to produce at least one image of a second tool model as a function of the spatial position of the working end of the second tracking device determined by the processor. 19. The system of claim 18, wherein the processor sends signals to the display which cause the display to display, simultaneously: an image of a target object within the workspace, wherein the image of the target object is a computer-generated image;the image of the first tool model within the image of the target object; andthe image of the second tool model within the image of the target object. 20. The system of claim 18, wherein: the tool includes a medical device;the working end of the second tracking device includes an imaging device; andthe processor sends signals to the display which cause the display to produce at least one image of a model of the medical device indicative of the spatial position of the medical device relative to an image generated by the imaging device. 21. The system of claim 1, further comprising a robot having a base, an end effecter, and a middle portion connecting the base and the end effecter, wherein the processor receives signals indicative of movement of the working end of the tracking device and wherein the processor sends signals to the robot indicative of corresponding movement for the end effecter. 22. The system of claim 1, further comprising a robot having a base, an end effecter, and a middle portion connecting the base and the end effecter, wherein the processor receives signals indicative of movement of the tracking device and wherein the processor sends signals to the robot indicative of corresponding movement for the middle portion of the robot. 23. The system of claim 1, further comprising a robot having a base, an end effecter, and a middle portion connecting the base and the end effecter, wherein the processor receives signals indicative of a configuration of the tracking device and wherein the processor sends signals to the robot indicative of a corresponding configuration for the middle portion of the robot. 24. The system of claim 1, wherein the processor generates a warning signal in response to the tracking device entering into a predetermined spatial region. 25. The system of claim 1, wherein the processor generates a warning signal in response to the tracking device assuming a predetermined configuration. 26. The system of claim 1, wherein the processor: receives signals indicative of a configuration of the tracking device;generates instructions for corresponding movements of a robot;determines if the instructions for corresponding movements of the robot violate predetermined rule; andgenerate a warning signal if the instructions for corresponding movements of the robot violate a predetermined rule. 27. The system of claim 1, wherein: the tracking device includes at least one reference end and first and second paths of series-connected links between the working end and the at least one reference end; andthe processor determines the spatial position of the working end of the tracking device relative to the at least one reference end of the tracking device by: determining the spatial position of the working end relative to the at least one reference end along the first of the two paths of series-connected links;determining the spatial position of the working end relative to the at least one reference end along the second of the two paths of series-connected links; andaveraging the spatial positions determined along the first and second paths. 28. The system of claim 27, wherein: the tracking device includes more than two paths of series-connected links between the working end and the at least one reference end;and the processor determines the spatial position of the working end of the tracking device relative to the at least one reference end of the tracking device by: determining the spatial position of the working end relative to the at least one reference end along each of the more than two paths; andaveraging the spatial positions determined along each of the more than two paths. 29. A system for determining a spatial position, comprising: a tracking device including: a working end;a reference end;a plurality of links connecting the working end to the reference end, wherein each link has at least one degree of freedom relative to an adjacent link, wherein the plurality of links are joined to one another with movable joints to form a link set between the reference end and the working end, the link set designed and configured to allow the plurality of links to move relative to one another as a human grasps and moves the working end to perform a task;a plurality of sensors measuring the orientation of the plurality of links in a plurality of degrees of freedom as the human grasps and moves the working end to perform the task, wherein X is a minimum number of degrees of freedom about which information is required to define the spatial position; anda processor receiving information from the sensors and determining the spatial position of the working end of the tracking device relative to the reference end of the tracking device based on information from the sensors measuring Y degrees of freedom, wherein Y is greater than X;wherein the processor determines the spatial position of the working end of the tracking device relative to the reference end of the tracking device by: determining, a plurality of times, the spatial position of the working end relative to the reference end when the working end and the reference end are stationary relative to one another and when at least one of the links connecting the working end to the reference end is moving so as to generate a plurality of calculated position data points; andaveraging the plurality of calculated position data points so as to generate an update data point.
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이 특허에 인용된 특허 (7)
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Rosenberg Louis B. (Mountain View CA), Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects.
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Nahum, Bertin; Badano, Fernand; Maillet, Pierre; Habermeier, Alexander; Dehour, Patrick, Method for the automated and assisted acquisition of anatomical surfaces.
Nahum, Bertin; Badano, Fernand; Maillet, Pierre; Habermeier, Alexander; Dehour, Patrick, Method for the automated and assisted acquisition of anatomical surfaces.
Maillet, Pierre; Nahum, Bertin; Badano, Fernand; Dehour, Patrick, Robotic-assisted device for positioning a surgical instrument relative to the body of a patient.
Maillet, Pierre; Nahum, Bertin; Badano, Fernand; Dehour, Patrick, Robotic-assisted device for positioning a surgical instrument relative to the body of a patient.
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