JP2016507295A - 見通し線エラーを示し、かつ低減させるためのナビゲーションシステムおよび方法 - Google Patents
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Abstract
Description
本願は、2013年1月16日に出願された米国仮特許出願第61/753,219号の優先権および利得を主張するものであり、その内容は、参照することによって、その全体がここに含まれるものとする。
本開示は、一般的に、1つまたは複数の対象物を追跡しているときの見通し線エラーを示し、かつ低減させるためのナビゲーションシステムおよび方法に関する。
一実施形態では、トラッカー44,46,48の各々が能動的に追跡されているとき、LEDの作動は、以下のように行なわれる。すなわち、トラッカー44の1つのLED50が作動され、トラッカー46の1つのLED50が作動され、トラッカー48の1つのLED50が作動され、次いで、トラッカー44の第2のLED50が作動され、トラッカー46の第2のLED50が作動され、以後、全てのLED50が作動されるまで、これが継続され、次いで、このシーケンスが繰り返される。この作動の順序は、カメラユニット36の送受信機(図示せず)からトラッカー44,46,48の送受信機(図示せず)に送信される指示信号またはナビゲーションコンピュータ26からトラッカー44,46,38の各々のトラッカー制御装置62への有線接続を介して送信される指示信号によって行なわれる。
Claims (54)
- 対象物を追跡するためのナビゲーションシステムであって、
追跡信号を送信するための追跡素子と、
前記対象物の位置を決定するために前記追跡素子から前記追跡信号を受信するためのセンサと、
を備えており、
前記追跡素子および前記センサの一方は、前記対象物に取付け可能になっており、
前記センサが前記追跡素子から前記追跡信号を受信するときのエラーを示すために前記対象物に取付け可能になっているエラー指示計であって、第1の発光素子および第2の発光素子を備えている、エラー指示計と、
前記センサが前記追跡素子から前記追跡信号を受信したかどうかを判断し、もし前記センサが前記追跡信号を受信しなかったなら、エラー信号を生成し、前記エラー信号の生成に応じて、前記第1の発光素子を作動させ、前記エラー信号の生成に応じて、前記第2の発光素子を作動停止させるように構成されたコンピュータシステムと、
をさらに備えている、
ナビゲーションシステム。 - 前記第1の発光素子は、第1の着色光を放射するように構成されており、前記第2の発光素子は、第2の着色光を放射するように構成されており、前記コンピュータシステムは、前記エラー信号の生成に応じて、前記第1の着色光を放射させるために、前記第1の発光素子を作動させ、前記エラー信号の生成に応じて、前記第2の着色光の放射を中断させるために、前記第2の発光素子を作動停止させるように構成されている、請求項1に記載のナビゲーションシステム。
- 前記対象物に取り付けるための追跡本体を備えており、前記追跡本体は、光リングを備えており、前記第1および第2の発光素子は、前記光リングを照明するために、前記光リングの内側に位置するように前記追跡本体に取り付けられている、請求項2に記載のナビゲーションシステム。
- 前記第1の発光素子は、前記コンピュータシステムが前記エラー信号を生成したときに前記光リングが前記第1の着色光によって照明され、前記第1の着色光を放射するように構成された発光ダイオードであり、前記第2の発光素子は、前記センサが前記追跡信号を受信したと前記コンピュータシステムが判断したとき、前記光リングが前記第2の着色光によって照明され、前記第2の着色光を放射するように構成された発光ダイオードである、請求項3に記載のナビゲーションシステム。
- 前記追跡本体は、上面、底面、および側面を備えており、前記追跡本体は、前記側面に画定された光開口を画定しており、前記第1および第2の発光素子の一方から光が前記光開口を通って放射されるようになっている、請求項1に記載のナビゲーションシステム。
- 前記センサは、視野を有しており、前記追跡素子は、前記視野内において前記対象物に取付け可能になっている、請求項1に記載のナビゲーションシステム。
- 第2の追跡素子を備えている、請求項1に記載のナビゲーションシステム。
- 前記追跡素子は、見通し線追跡素子である、請求項7に記載のナビゲーションシステム。
- 前記追跡素子は、発光ダイオードである、請求項7に記載のナビゲーションシステム。
- 前記追跡素子は、反射ボールである、請求項7に記載のナビゲーションシステム。
- 追跡信号を送信するための第2および第3の追跡素子を備えている、請求項1に記載のナビゲーションシステム。
- 前記コンピュータシステムは、
前記追跡要素の3つの全ての連続的作動を含む追跡サイクルにおいて、前記センサが前記追跡素子の3つの全てから前記追跡信号を受信しているかどうかを判断し、
もし前記追跡サイクルにおいて、前記センサが前記追跡素子の3つの全てから前記追跡信号を受信しなかったなら、前記エラー信号を生成するように構成されている、請求項11に記載のナビゲーションシステム。 - 対象物を追跡するための方法であって、
追跡素子およびセンサの一方を前記対象物に取り付けるステップと、
前記追跡素子から追跡信号を送信するステップと、
前記センサが前記追跡素子から前記追跡信号を受信したかどうかを判断するステップと、
もし前記センサが前記追跡信号を受信しなかったなら、エラー信号を生成するステップと、
前記エラー信号の生成に応じて、第1の発光素子を作動させるステップと、
前記エラー信号の生成に応じて、第2の発光素子を作動停止させるステップと、
を含んでいる、方法。 - 前記エラー信号の生成に応じて、第1の着色光を放射させることを含んでいる、請求項13に記載の方法。
- エラー信号が生じていないとき、第2の着色光を放射させることを含んでいる、請求項14に記載の方法。
- エラー信号が生じていないとき、緑色光を放射させることを含んでいる、請求項15に記載の方法。
- 前記エラー信号の生成に応じて、前記第1の着色光によって光リングを照明し、エラー信号が生じていないとき、前記第2の着色光によって前記光リングを照明することを含んでいる、請求項15に記載の方法。
- 前記センサの視野内において前記追跡素子を前記対象物に取り付けることを含んでいる、請求項13に記載の方法。
- 第2および第3の追跡素子を前記対象物に取り付け、前記第2および第3の追跡素子から追跡信号を送信することを含んでいる、請求項13に記載の方法。
- 前記追跡素子の各々を骨に取り付けることを含んでいる、請求項19に記載の方法。
- 前記追跡要素の3つの全ての連続的作動を含む追跡サイクルにおいて、前記センサが前記追跡素子の3つの全てから前記追跡信号を受信しているかどうかを判断し、もし前記追跡サイクルにおいて前記センサが前記追跡素子の3つの全てから前記追跡信号を受信しなかったなら、前記エラー信号を生成することを含んでいる、請求項19に記載の方法。
- ナビゲーションシステムであって、
対象物に取付け可能な基部、追跡素子、および前記追跡素子を所望の方位に配置するために前記基部に対する前記追跡素子の少なくとも1自由度の運動を可能にするように前記追跡素子を前記基部に連結するコネクタを備えている追跡装置と、
前記追跡素子が所望の方位にあるかどうかを判断し、もし前記追跡素子が前記所望の方位にないなら、前記追跡素子を前記基部に対して前記少なくとも1自由度で移動させるようにユーザーに指示するように構成されたコンピュータシステムと、
を備えている、ナビゲーションシステム。 - 前記追跡素子が前記所望の方位にあるかどうかを判断する方位センサを備えている、請求項22に記載のナビゲーションシステム。
- 前記方位センサは、3軸に沿った重力成分を測定するように構成された重力センサとしてさらに規定されている、請求項23に記載のナビゲーションシステム。
- 前記追跡素子は、中心信号軸を有する見通し線追跡信号を生成することができるようになっており、前記コンピュータシステムは、前記中心信号軸を重力の方向と略直交する位置に配置させるために、前記追跡素子を前記少なくとも1自由度で移動させるべくユーザーに指示するように構成されている、請求項24に記載のナビゲーションシステム。
- 前記追跡素子から前記見通し線追跡信号を受信することができる少なくとも1つのセンサを有するカメラユニットを備えている、請求項25に記載のナビゲーションシステム。
- 前記追跡装置は、前記追跡素子を支持する追跡ヘッドを備えており、前記追跡ヘッドは、前記追跡記素子を前記所望の方位に配置させるために、前記基部に対して移動可能になっている、請求項22に記載のナビゲーションシステム。
- 前記追跡ヘッドによって支持された第2および第3の追跡素子を備えている、請求項27に記載のナビゲーションシステム。
- 前記追跡素子の各々は、発光ダイオードである、請求項28に記載のナビゲーションシステム。
- 前記追跡素子の各々は、反射ボールである、請求項28に記載のナビゲーションシステム。
- 前記追跡素子の各々は、見通し線追跡素子である、請求項28に記載のナビゲーションシステム。
- 前記追跡装置は、ジャイロスコープを備えている、請求項22に記載のナビゲーションシステム。
- 前記追跡素子は、光学マーカー、高周波受信機、高周波送信機、磁場センサ、磁場生成器、超音波センサ、または超音波送信機の1つである、請求項22に記載のナビゲーションシステム。
- 前記追跡装置は、骨に取付け可能になっている、請求項22に記載のナビゲーションシステム。
- 前記コネクタは、前記追跡素子を前記所望の方位に配置させるために、前記基部に対する前記追跡素子の2自由度の運動を可能にするように構成されている、請求項22に記載のナビゲーションシステム。
- 対象物を追跡するようにナビゲーションシステムを設定する方法であって、前記ナビゲーションシステムは、コンピュータシステムと、基部、追跡素子、およびコネクタを備える追跡装置とを備えている、方法において、
前記基部を前記対象物に取り付けるステップと、
前記追跡素子が所望の方位にあるかどうかを判断するステップと、
もし前記追跡素子が前記所望の方位にないなら、前記追跡素子を前記基部に対して少なくとも1自由度で移動させるようにユーザーに指示するステップと、
を含んでいる、方法。 - 前記追跡素子が前記所望の方位にあるかどうかを判断する前記ステップは、重力に対する前記追跡素子の方位を判断することを含んでいる、請求項36に記載の方法。
- 重力に対する前記追跡素子の方位を判断することは、x,y,z軸に沿った重力成分を測定することを含んでいる、請求項37に記載の方法。
- 前記追跡素子によって中心信号軸を有する見通し線追跡信号を生成し、前記中心信号軸を重力の方向と略直交する位置に配置させるために、前記追跡素子を前記少なくとも1自由度で移動させるようにユーザーに指示することを含んでいる、請求項36に記載の方法。
- 前記ナビゲーションシステムのカメラユニットによって、前記見通し線追跡信号を受信することを含んでいる、請求項36に記載の方法。
- 前記追跡素子が前記所望の方位にあるかどうかを判断する前記ステップは、前記追跡素子の回転位置が所望の回転位置にあるかどうかを判断することを含んでいる、請求項36に記載の方法。
- 前記追跡要素が前記所望の方位にあるかどうかを判断する前記ステップは、前記追跡素子および複数のさらなる追跡素子からの信号を、前記追跡素子の現在の方位を決定するために、前記ナビゲーションシステムのカメラユニットに送信することを含んでいる、請求項36に記載の方法。
- 前記追跡素子を前記基部に対して移動させるようにユーザーに指示する前記ステップは、前記z軸重力成分の測定値が略ゼロになるまで、前記追跡素子を移動させるようにユーザーに指示することを含んでいる、請求項36に記載の方法。
- 前記追跡素子を前記基部に対して移動させるようにユーザーに指示する前記ステップは、前記基部に対する前記追跡装置の前記追跡ヘッドの傾斜位置および回転位置を調整するようにユーザーに指示することを含んでいる、請求項36に記載の方法。
- 前記追跡ヘッドの前記傾斜位置および前記回転位置を調整するようにユーザーを指示することは、最初、前記傾斜位置を調整するようにユーザーに指示し、その後、前記回転位置を調整するようにユーザーに指示することを含んでいる、請求項44に記載の方法。
- 前記追跡素子を前記基部に対して少なくとも1自由度で移動させるようにユーザーに指示する前記ステップは、前記追跡素子を前記所望の方位に配置させるために前記追跡素子を前記基部に対して2自由度で移動させるようにユーザーに指示することを含んでいる、請求項36に記載の方法。
- 前記追跡素子を前記基部に対して移動させるようにユーザーに指示する前記ステップは、前記ナビゲーションシステムのディスプレイ上に指示を表示することを含んでいる、請求項36に記載の方法。
- 前記ナビゲーションシステムのディスプレイ上に前記追跡素子の現在の方位を図表によって表示し、ユーザーが前記追跡素子を移動させるときに前記図表による表示を動的に調整することを含んでいる、請求項36に記載の方法、
- 前記現在の方位がいかに前記所望の方位に近づいているかをユーザーが視覚的に判断することができるように、前記所望の方位をディスプレイ上に図表によって表示することを含んでいる、請求項48に記載の方法。
- 前記追跡素子がいつ前記所望の方位に達するかを示すことを含んでいる、請求項49に記載の方法。
- 前記追跡素子がいつ前記所望の方位に達するかを示すことは、前記追跡素子がいつ前記所望の方位に達するかを視覚的に示すことを含んでいる、請求項50に記載の方法。
- 前記追跡素子を前記所望の方位に配置させるために前記追跡装置の前記追跡ヘッドを前記基部に対して移動させることを含んでいる、請求項36に記載の方法。
- 前記追跡素子が前記所望の方位に移動した後、前記追跡素子の現在の方位を固定するために前記コネクタを作動させることを含んでいる、請求項52に記載の方法。
- 前記基部を前記対象物に取り付ける前記ステップは、前記基部を骨に取り付けることを含んでいる、請求項36に記載の方法。
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CN105073054B (zh) | 2018-07-10 |
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