WO2000039576A1 - A hybrid 3-d probe tracked by multiple sensors - Google Patents
A hybrid 3-d probe tracked by multiple sensors Download PDFInfo
- Publication number
- WO2000039576A1 WO2000039576A1 PCT/US1999/030494 US9930494W WO0039576A1 WO 2000039576 A1 WO2000039576 A1 WO 2000039576A1 US 9930494 W US9930494 W US 9930494W WO 0039576 A1 WO0039576 A1 WO 0039576A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- electromagnetic
- orientation
- sensors
- emitters
- light based
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3995—Multi-modality markers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
Definitions
- This invention relates to an improvement in systems for measuring the position and orientation of probes and other rigid bodies being tracked in 3 -dimensional (3-D) space.
- the improvements engendered by this invention can be applied to 1 -dimensional and 2-dimensional
- a spatial volume defined by some 3-D coordinate system By attaching multiple markers to bodies, even moving bodies, the orientation as well as the position of the bodies, individually or in relationship to each other, can be determined.
- such bodies may be hand-held probes, moveable rigid objects, or semi-rigid portions of human anatomy.
- the position of a body means its 3-D location plus its 3-D orientation about
- tracking methods which use two or more light based sensors to measure the angular locations of markers on an object being tracked with respect to known positions of the sensors in the three dimensional volume. Examples of such prior art techniques are found in the following
- the markers in the above systems emit energy, and typically each marker is an active
- LED visible light emitting diode
- markers is maintaining line-of-sight between the markers (reflectors or emitters) and the markers
- CCMs coordinate measurement machines
- ferrous metals especially ferrous metals, and most especially large masses of ferromagnetic materials, such as
- This reference describes calibrating a magnetic system for local anomalies by reference to
- One very desirable tracking system incorporates at least three built-in, orthogonal,
- an inertia-based mensuration system is
- this invention presents an improvement in position measurement that
- the first objective of the present invention is to track the location of a probe or other
- a second objective of this invention is to provide an automatic means to use a constituent
- a third objective of this invention is to provide the operator of the system with a warning
- one aspect of the invention comprises a system for
- Figure 1 is a combination of a schematic block diagram and a perspective view of a single
- Figure 2 is similar to figure 1 except that a magnetic localizer subsystem has been
- Figure 3 is a flow chart that outlines one preferred set of major steps of operation and
- multiple light based detectable markers such as infrared LED emitters or
- 26 an array adapted to sense light beams for tracking the locations of the markers
- control unit 72 various data/signal paths between a control unit 72 and/or sensors or
- control unit for power, electronics, signal conditioning, timing, and other support systems
- FIGS 1 and 2 illustrate two alternative preferred embodiments of the present invention.
- Figure 3 depicts as a flowchart the major steps 81...99 of the program that operates the
- the apparatus includes a 3-D light based measurement system, such as the FlashPoint 5000 built by Image Guided Technologies, Inc., of Boulder, Colorado.
- the electromagnetic radiation sensors 26 detect the image of each light emitting or reflecting
- each marker is a light emitting diode (LED) or a
- the locations of the images of the markers are sent to a control unit 72 via a
- the control unit 72 processes each
- the light based sensors 26 may be used and not all markers need to be seen at the same time by the light based sensors 26.
- At least three non-collinear markers must be detected by the sensors 26 in order to fully
- the sensors must detect the emissions or reflections. If the sensors .are two dimensional, at least
- orientation of the body 20 being tracked would be with respect to some reference location on the
- the body also houses multiple linear
- accelerometers 31 such as the ADXL202 manufactured by Analog Devices, Inc. At least one accelerometer 31 should be aligned with each of the body's three dimensional axes.
- the embodiment may also include a plurality of angular accelerometers 34 (also
- solid state or piezoelectric gyroscopes known as solid state or piezoelectric gyroscopes.
- three accelerometers can be
- Examples of such devices are the G-2000 manufactured by Litton Guidance & Control
- the rotation may be described as a sequence of
- non-light based subsystem is related to a coordinate triple [X Y Z] computed by the light based
- the system can internally estimate the inaccuracy
- the last-computed transformation is used to correct the positional computations from the
- Step 99 Coordinate data could still be produced by the micro processor 76 and recorded, but is
- warning indicator (such as a bad status code) is preferably associated
- a second preferred embodiment of this invention also includes 3-D
- magnetic sensors 41 that are preferably, but not necessarily, located in the body 20. Also, a
- steerable magnetic field source 44 is provided.
- the location of the several sensors 41 can thus be
- the magnet field source 44 remains physically stationary and light based markers 47 are not used.
- the magnetic field source 44 is steered electronically.
- the 3-D coordinates can be produced anyway using the light based sensor information
- the body may then be tracked into the obscured volume, such as inside a medical patient during
- source 44 can be determined in just the same way as any other body, such as object 20. Unlike
- the magnetic field source 44 can be any magnetic field source 44.
- Patent 5,198,877 (incorporated by reference), in which the locations of points are determined
- the system would then be limited to tracking only one body 20, the body holding
- markers on a probe are within view of the light based sensors, both of the non-light based
- both non-light based sensor sub-systems are used to determine the position and orientation of the
- Each sub-system provides an internal estimate of its own inaccuracy. If only one
- Step 81 the operation of the present invention begins in Step 81 by
- Steps 82 and 83 determine whether the
- Step 84 performs the measurement as well as computing the
- Step 85 does the same using the
- Step 86 relates these two measurements to each other by using an
- Step 87
- Step 95 resets the inaccuracy limit to zero (or some other small appropriate estimate).
- the coordinate reports could be accompanied by reports of the non-light based coordinates too
- Step 99 the coordinates could still be reported by Step 95, but some "warning" status code should be attached to the data. If the inaccuracy estimate of the other non-
- Step 92 reads that non-light based sensors 31, 34,
- Step 93 computes the position and orientation of the body 20 and the location and
- Step 94 updates the current other non-light based sub-
- Step 95 reports the position coordinates derived from the non-light based sensors
- probe end of the shaft (equipped with visible markers) is in view of the light based sensors.
- one or more secondary measurement system such as a combination of inertial and magnetic
- the magnetic subsystem could be used to correct the inertial
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Electromagnetism (AREA)
- Heart & Thoracic Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP99966527A EP1153292B1 (en) | 1998-12-23 | 1999-12-22 | A hybrid 3-d probe tracked by multiple sensors |
JP2000591424A JP4612194B2 (en) | 1998-12-23 | 1999-12-22 | Hybrid 3D probe tracked by multiple sensors |
CA002356271A CA2356271A1 (en) | 1998-12-23 | 1999-12-22 | A hybrid 3-d probe tracked by multiple sensors |
US09/868,948 US6611141B1 (en) | 1998-12-23 | 1999-12-22 | Hybrid 3-D probe tracked by multiple sensors |
AU22042/00A AU2204200A (en) | 1998-12-23 | 1999-12-22 | A hybrid 3-d probe tracked by multiple sensors |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11380398P | 1998-12-23 | 1998-12-23 | |
US60/113,803 | 1998-12-23 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000039576A1 true WO2000039576A1 (en) | 2000-07-06 |
Family
ID=22351623
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1999/030494 WO2000039576A1 (en) | 1998-12-23 | 1999-12-22 | A hybrid 3-d probe tracked by multiple sensors |
Country Status (6)
Country | Link |
---|---|
US (1) | US6611141B1 (en) |
EP (1) | EP1153292B1 (en) |
JP (1) | JP4612194B2 (en) |
AU (1) | AU2204200A (en) |
CA (1) | CA2356271A1 (en) |
WO (1) | WO2000039576A1 (en) |
Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1096268A2 (en) * | 1999-10-28 | 2001-05-02 | Northern Digital Inc. | System for determining the spatial position and/or orientation of one or more objects |
WO2002036178A2 (en) * | 2000-10-31 | 2002-05-10 | Northern Digital, Inc. | A flexible instrument with optical sensors |
US6497134B1 (en) | 2000-03-15 | 2002-12-24 | Image Guided Technologies, Inc. | Calibration of an instrument |
DE10341984B3 (en) * | 2003-09-08 | 2005-06-09 | Aesculap Ag & Co. Kg | Surgical pointer instrument for navigation-assisted surgery with deliberate rupture of elongate section of instrument body between pointer end and coupling region for identification device |
EP1772110A1 (en) | 2005-10-07 | 2007-04-11 | BrainLAB AG | Medical marker |
US7343359B2 (en) | 2001-03-21 | 2008-03-11 | Francotyp - Postalia Gmbh | Franking machine having a retrofittable weighing device |
WO2009128062A2 (en) * | 2008-04-15 | 2009-10-22 | Navotek Medical Ltd. | Hybrid medical device localization system |
US7725162B2 (en) | 2000-01-27 | 2010-05-25 | Howmedica Leibinger Inc. | Surgery system |
WO2010071571A1 (en) * | 2008-12-15 | 2010-06-24 | Alignment Systems Ab | Device and method for measuring a construction |
WO2011036033A1 (en) * | 2009-09-23 | 2011-03-31 | Carl Zeiss Ag | Method and device for determining the orientation and position of an object |
WO2011075251A1 (en) * | 2009-12-17 | 2011-06-23 | The Boeing Company | Position and orientation determination using movement data |
WO2012057871A1 (en) * | 2010-10-29 | 2012-05-03 | Medtronic, Inc. | Error correction techniques in surgical navigation |
US8290570B2 (en) | 2004-09-10 | 2012-10-16 | Stryker Leibinger Gmbh & Co., Kg | System for ad hoc tracking of an object |
EP2620798A1 (en) * | 2012-01-25 | 2013-07-31 | Harman Becker Automotive Systems GmbH | Head tracking system |
US8548822B2 (en) | 2003-12-19 | 2013-10-01 | Stryker Leibinger Gmbh & Co., Kg | Reactive workflow system and method |
US9058681B2 (en) | 2012-06-01 | 2015-06-16 | The Boeing Company | Sensor-enhanced localization in virtual and physical environments |
US9423250B1 (en) | 2009-12-17 | 2016-08-23 | The Boeing Company | Position measurement correction using loop-closure and movement data |
EP3181085A4 (en) * | 2014-08-13 | 2018-04-04 | Koh Young Technology Inc. | Tracking system and tracking method using same |
EP3381398A4 (en) * | 2015-11-27 | 2018-12-05 | Curexo, Inc. | System for identifying position of marker for orthopedic surgery and method for identifying same |
DE102021118589A1 (en) | 2021-07-19 | 2023-03-09 | Technische Universität Dresden | System and method for determining a spatial magnetic field characteristic |
US11877808B2 (en) | 2016-10-21 | 2024-01-23 | Mobius Imaging, Llc | Methods and systems for setting trajectories and target locations for image guided surgery |
Families Citing this family (222)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7084887B1 (en) * | 1999-06-11 | 2006-08-01 | Canon Kabushiki Kaisha | Marker layout method, mixed reality apparatus, and mixed reality space image generation method |
US7635390B1 (en) * | 2000-01-14 | 2009-12-22 | Marctec, Llc | Joint replacement component having a modular articulating surface |
US8909325B2 (en) | 2000-08-21 | 2014-12-09 | Biosensors International Group, Ltd. | Radioactive emission detector equipped with a position tracking system and utilization thereof with medical systems and in medical procedures |
US7652259B2 (en) * | 2000-08-21 | 2010-01-26 | Spectrum Dynamics Llc | Apparatus and methods for imaging and attenuation correction |
US8565860B2 (en) | 2000-08-21 | 2013-10-22 | Biosensors International Group, Ltd. | Radioactive emission detector equipped with a position tracking system |
US8036731B2 (en) | 2001-01-22 | 2011-10-11 | Spectrum Dynamics Llc | Ingestible pill for diagnosing a gastrointestinal tract |
WO2005119025A2 (en) | 2004-06-01 | 2005-12-15 | Spectrum Dynamics Llc | Radioactive-emission-measurement optimization to specific body structures |
US8489176B1 (en) | 2000-08-21 | 2013-07-16 | Spectrum Dynamics Llc | Radioactive emission detector equipped with a position tracking system and utilization thereof with medical systems and in medical procedures |
IL157007A0 (en) * | 2001-01-22 | 2004-02-08 | Target Technologies Ltd V | Ingestible device |
US7708741B1 (en) | 2001-08-28 | 2010-05-04 | Marctec, Llc | Method of preparing bones for knee replacement surgery |
US7206626B2 (en) | 2002-03-06 | 2007-04-17 | Z-Kat, Inc. | System and method for haptic sculpting of physical objects |
US8010180B2 (en) * | 2002-03-06 | 2011-08-30 | Mako Surgical Corp. | Haptic guidance system and method |
GB2391625A (en) | 2002-08-09 | 2004-02-11 | Diagnostic Ultrasound Europ B | Instantaneous ultrasonic echo measurement of bladder urine volume with a limited number of ultrasound beams |
US8221321B2 (en) | 2002-06-07 | 2012-07-17 | Verathon Inc. | Systems and methods for quantification and classification of fluids in human cavities in ultrasound images |
US20070276247A1 (en) * | 2002-06-07 | 2007-11-29 | Vikram Chalana | Systems and methods for ultrasound imaging using an inertial reference unit |
US7819806B2 (en) | 2002-06-07 | 2010-10-26 | Verathon Inc. | System and method to identify and measure organ wall boundaries |
US8221322B2 (en) | 2002-06-07 | 2012-07-17 | Verathon Inc. | Systems and methods to improve clarity in ultrasound images |
US8947347B2 (en) * | 2003-08-27 | 2015-02-03 | Sony Computer Entertainment Inc. | Controlling actions in a video game unit |
US8797260B2 (en) | 2002-07-27 | 2014-08-05 | Sony Computer Entertainment Inc. | Inertially trackable hand-held controller |
US8570378B2 (en) * | 2002-07-27 | 2013-10-29 | Sony Computer Entertainment Inc. | Method and apparatus for tracking three-dimensional movements of an object using a depth sensing camera |
US8313380B2 (en) | 2002-07-27 | 2012-11-20 | Sony Computer Entertainment America Llc | Scheme for translating movements of a hand-held controller into inputs for a system |
US7782297B2 (en) * | 2002-07-27 | 2010-08-24 | Sony Computer Entertainment America Inc. | Method and apparatus for use in determining an activity level of a user in relation to a system |
US20060282873A1 (en) * | 2002-07-27 | 2006-12-14 | Sony Computer Entertainment Inc. | Hand-held controller having detectable elements for tracking purposes |
US9393487B2 (en) * | 2002-07-27 | 2016-07-19 | Sony Interactive Entertainment Inc. | Method for mapping movements of a hand-held controller to game commands |
US20060264260A1 (en) * | 2002-07-27 | 2006-11-23 | Sony Computer Entertainment Inc. | Detectable and trackable hand-held controller |
US6922632B2 (en) * | 2002-08-09 | 2005-07-26 | Intersense, Inc. | Tracking, auto-calibration, and map-building system |
US20040048666A1 (en) * | 2002-09-10 | 2004-03-11 | Radica China Limited | Wireless game device and method for using the same |
US6891382B2 (en) * | 2002-10-15 | 2005-05-10 | Massachusetts Instiute Of Technology | Three-dimensional characterization using a one-dimensional electrode array |
US20040116807A1 (en) * | 2002-10-17 | 2004-06-17 | Roni Amrami | Blood vessels wall imaging catheter |
AU2003287720A1 (en) * | 2002-11-14 | 2004-06-15 | General Electric Medical Systems Global Technology Company, Llc | Interchangeable localizing devices for use with tracking systems |
US9248003B2 (en) | 2002-12-30 | 2016-02-02 | Varian Medical Systems, Inc. | Receiver used in marker localization sensing system and tunable to marker frequency |
US7912529B2 (en) * | 2002-12-30 | 2011-03-22 | Calypso Medical Technologies, Inc. | Panel-type sensor/source array assembly |
US7926491B2 (en) * | 2002-12-31 | 2011-04-19 | Calypso Medical Technologies, Inc. | Method and apparatus for sensing field strength signals to estimate location of a wireless implantable marker |
WO2004091419A2 (en) * | 2003-04-08 | 2004-10-28 | Wasielewski Ray C | Use of micro-and miniature position sensing devices for use in tka and tha |
US20050154280A1 (en) * | 2003-12-31 | 2005-07-14 | Wright J. N. | Receiver used in marker localization sensing system |
US7684849B2 (en) * | 2003-12-31 | 2010-03-23 | Calypso Medical Technologies, Inc. | Marker localization sensing system synchronized with radiation source |
US9040016B2 (en) | 2004-01-13 | 2015-05-26 | Biosensors International Group, Ltd. | Diagnostic kit and methods for radioimaging myocardial perfusion |
WO2005067383A2 (en) * | 2004-01-13 | 2005-07-28 | Spectrum Dynamics Llc | Multi-dimensional image reconstruction |
WO2005118659A2 (en) | 2004-06-01 | 2005-12-15 | Spectrum Dynamics Llc | Methods of view selection for radioactive emission measurements |
US8586932B2 (en) | 2004-11-09 | 2013-11-19 | Spectrum Dynamics Llc | System and method for radioactive emission measurement |
US9470801B2 (en) | 2004-01-13 | 2016-10-18 | Spectrum Dynamics Llc | Gating with anatomically varying durations |
US7968851B2 (en) | 2004-01-13 | 2011-06-28 | Spectrum Dynamics Llc | Dynamic spect camera |
US8571881B2 (en) | 2004-11-09 | 2013-10-29 | Spectrum Dynamics, Llc | Radiopharmaceutical dispensing, administration, and imaging |
WO2005087125A2 (en) * | 2004-03-10 | 2005-09-22 | Depuy International Ltd | Orthopaedic operating systems, methods, implants and instruments |
US20050228617A1 (en) * | 2004-04-02 | 2005-10-13 | Scott Kerwin | Methods and systems for tracking probe use |
DE102004047905A1 (en) * | 2004-09-29 | 2006-04-20 | Augmented Solutions Gmbh | Calibration of optical sensors, for augmented reality system by use at least two tracking systems, involves determining transformation of optical sensor relative to tracking object |
EP1827505A4 (en) | 2004-11-09 | 2017-07-12 | Biosensors International Group, Ltd. | Radioimaging |
US8615405B2 (en) | 2004-11-09 | 2013-12-24 | Biosensors International Group, Ltd. | Imaging system customization using data from radiopharmaceutical-associated data carrier |
US8423125B2 (en) | 2004-11-09 | 2013-04-16 | Spectrum Dynamics Llc | Radioimaging |
US9943274B2 (en) | 2004-11-09 | 2018-04-17 | Spectrum Dynamics Medical Limited | Radioimaging using low dose isotope |
US9316743B2 (en) | 2004-11-09 | 2016-04-19 | Biosensors International Group, Ltd. | System and method for radioactive emission measurement |
WO2008059489A2 (en) | 2006-11-13 | 2008-05-22 | Spectrum Dynamics Llc | Radioimaging applications of and novel formulations of teboroxime |
US20120251991A1 (en) * | 2004-11-30 | 2012-10-04 | Eric Savitsky | Peripheral Probe with Six Degrees of Freedom Plus Compressive Force Feedback |
EP1844351A4 (en) | 2005-01-13 | 2017-07-05 | Biosensors International Group, Ltd. | Multi-dimensional image reconstruction and analysis for expert-system diagnosis |
EP2818187A3 (en) | 2005-02-18 | 2015-04-15 | Zimmer, Inc. | Smart joint implant sensors |
EP1866871A4 (en) * | 2005-03-30 | 2012-01-04 | Worcester Polytech Inst | Free-hand three-dimensional ultrasound diagnostic imaging with position and angle determination sensors |
US8644910B2 (en) | 2005-07-19 | 2014-02-04 | Biosensors International Group, Ltd. | Imaging protocols |
EP1908011B1 (en) | 2005-07-19 | 2013-09-04 | Spectrum Dynamics LLC | Reconstruction stabilizer and active vision |
US8837793B2 (en) | 2005-07-19 | 2014-09-16 | Biosensors International Group, Ltd. | Reconstruction stabilizer and active vision |
SE529780C2 (en) * | 2005-08-04 | 2007-11-20 | Hexagon Metrology Ab | Measuring method and measuring device for use in measuring systems such as coordinate measuring machines |
US8784336B2 (en) | 2005-08-24 | 2014-07-22 | C. R. Bard, Inc. | Stylet apparatuses and methods of manufacture |
US8625854B2 (en) * | 2005-09-09 | 2014-01-07 | Industrial Research Limited | 3D scene scanner and a position and orientation system |
WO2007044301A2 (en) * | 2005-10-04 | 2007-04-19 | Intersense, Inc. | Tracking objects with markers |
CN101299971B (en) | 2005-11-03 | 2012-09-26 | 奥索瑟夫特公司 | Multifaceted tracker device for computer-assisted surgery |
EP1952180B1 (en) | 2005-11-09 | 2017-01-04 | Biosensors International Group, Ltd. | Dynamic spect camera |
EP1966984A2 (en) | 2005-12-28 | 2008-09-10 | Starhome GmbH | Optimal voicemail deposit for roaming cellular telephony |
US8862200B2 (en) | 2005-12-30 | 2014-10-14 | DePuy Synthes Products, LLC | Method for determining a position of a magnetic source |
US7525309B2 (en) | 2005-12-30 | 2009-04-28 | Depuy Products, Inc. | Magnetic sensor array |
US8894974B2 (en) | 2006-05-11 | 2014-11-25 | Spectrum Dynamics Llc | Radiopharmaceuticals for diagnosis and therapy |
US7277811B1 (en) * | 2006-05-11 | 2007-10-02 | The Boeing Company | Calibration apparatus and process |
WO2007143200A2 (en) * | 2006-06-02 | 2007-12-13 | Futrell J William | Systems and methods for illuminating materials |
US8560047B2 (en) | 2006-06-16 | 2013-10-15 | Board Of Regents Of The University Of Nebraska | Method and apparatus for computer aided surgery |
USRE48417E1 (en) | 2006-09-28 | 2021-02-02 | Sony Interactive Entertainment Inc. | Object direction using video input combined with tilt angle information |
US8781151B2 (en) | 2006-09-28 | 2014-07-15 | Sony Computer Entertainment Inc. | Object detection using video input combined with tilt angle information |
US8310656B2 (en) | 2006-09-28 | 2012-11-13 | Sony Computer Entertainment America Llc | Mapping movements of a hand-held controller to the two-dimensional image plane of a display screen |
US20080098448A1 (en) * | 2006-10-19 | 2008-04-24 | Sony Computer Entertainment America Inc. | Controller configured to track user's level of anxiety and other mental and physical attributes |
US7794407B2 (en) | 2006-10-23 | 2010-09-14 | Bard Access Systems, Inc. | Method of locating the tip of a central venous catheter |
US8388546B2 (en) | 2006-10-23 | 2013-03-05 | Bard Access Systems, Inc. | Method of locating the tip of a central venous catheter |
IL179344A (en) * | 2006-11-16 | 2014-02-27 | Rafael Advanced Defense Sys | Method for tracking a moving platform |
US9275451B2 (en) | 2006-12-20 | 2016-03-01 | Biosensors International Group, Ltd. | Method, a system, and an apparatus for using and processing multidimensional data |
US8068648B2 (en) | 2006-12-21 | 2011-11-29 | Depuy Products, Inc. | Method and system for registering a bone of a patient with a computer assisted orthopaedic surgery system |
US8834372B2 (en) * | 2007-01-26 | 2014-09-16 | Fujifilm Sonosite, Inc. | System and method for optimized spatio-temporal sampling |
JP2008219788A (en) * | 2007-03-07 | 2008-09-18 | Toshiba Corp | Stereoscopic image display device, and method and program therefor |
US20080243416A1 (en) * | 2007-03-30 | 2008-10-02 | Mitutoyo Corporation | Global calibration for stereo vision probe |
US7526071B2 (en) * | 2007-04-06 | 2009-04-28 | Warsaw Orthopedic, Inc. | System and method for patient balance and position analysis |
CN101711125B (en) | 2007-04-18 | 2016-03-16 | 美敦力公司 | For the active fixing medical electrical leads of long-term implantable that non-fluorescence mirror is implanted |
US8167803B2 (en) | 2007-05-16 | 2012-05-01 | Verathon Inc. | System and method for bladder detection using harmonic imaging |
US20080287805A1 (en) * | 2007-05-16 | 2008-11-20 | General Electric Company | System and method to guide an instrument through an imaged subject |
US8521253B2 (en) | 2007-10-29 | 2013-08-27 | Spectrum Dynamics Llc | Prostate imaging |
US9649048B2 (en) | 2007-11-26 | 2017-05-16 | C. R. Bard, Inc. | Systems and methods for breaching a sterile field for intravascular placement of a catheter |
US9521961B2 (en) | 2007-11-26 | 2016-12-20 | C. R. Bard, Inc. | Systems and methods for guiding a medical instrument |
US10751509B2 (en) | 2007-11-26 | 2020-08-25 | C. R. Bard, Inc. | Iconic representations for guidance of an indwelling medical device |
US10524691B2 (en) | 2007-11-26 | 2020-01-07 | C. R. Bard, Inc. | Needle assembly including an aligned magnetic element |
US9456766B2 (en) | 2007-11-26 | 2016-10-04 | C. R. Bard, Inc. | Apparatus for use with needle insertion guidance system |
US8781555B2 (en) | 2007-11-26 | 2014-07-15 | C. R. Bard, Inc. | System for placement of a catheter including a signal-generating stylet |
US10449330B2 (en) | 2007-11-26 | 2019-10-22 | C. R. Bard, Inc. | Magnetic element-equipped needle assemblies |
WO2009070616A2 (en) | 2007-11-26 | 2009-06-04 | C. R. Bard, Inc. | Integrated system for intravascular placement of a catheter |
US8849382B2 (en) | 2007-11-26 | 2014-09-30 | C. R. Bard, Inc. | Apparatus and display methods relating to intravascular placement of a catheter |
DE102007059599B4 (en) * | 2007-12-11 | 2017-06-22 | Siemens Healthcare Gmbh | Device for a medical intervention and method of operation for a device for a medical intervention |
US8478382B2 (en) | 2008-02-11 | 2013-07-02 | C. R. Bard, Inc. | Systems and methods for positioning a catheter |
US8663120B2 (en) | 2008-04-18 | 2014-03-04 | Regents Of The University Of Minnesota | Method and apparatus for mapping a structure |
US8839798B2 (en) | 2008-04-18 | 2014-09-23 | Medtronic, Inc. | System and method for determining sheath location |
US8532734B2 (en) | 2008-04-18 | 2013-09-10 | Regents Of The University Of Minnesota | Method and apparatus for mapping a structure |
US8260395B2 (en) | 2008-04-18 | 2012-09-04 | Medtronic, Inc. | Method and apparatus for mapping a structure |
US8494608B2 (en) * | 2008-04-18 | 2013-07-23 | Medtronic, Inc. | Method and apparatus for mapping a structure |
US8340751B2 (en) * | 2008-04-18 | 2012-12-25 | Medtronic, Inc. | Method and apparatus for determining tracking a virtual point defined relative to a tracked member |
US8029566B2 (en) * | 2008-06-02 | 2011-10-04 | Zimmer, Inc. | Implant sensors |
CA2957778C (en) | 2008-08-07 | 2022-12-13 | Jongtae Yuk | Device, system, and method to measure abdominal aortic aneurysm diameter |
US9901714B2 (en) | 2008-08-22 | 2018-02-27 | C. R. Bard, Inc. | Catheter assembly including ECG sensor and magnetic assemblies |
US8437833B2 (en) | 2008-10-07 | 2013-05-07 | Bard Access Systems, Inc. | Percutaneous magnetic gastrostomy |
US20100121189A1 (en) * | 2008-11-12 | 2010-05-13 | Sonosite, Inc. | Systems and methods for image presentation for medical examination and interventional procedures |
US9746544B2 (en) * | 2008-12-03 | 2017-08-29 | Analog Devices, Inc. | Position measurement systems using position sensitive detectors |
US8175681B2 (en) | 2008-12-16 | 2012-05-08 | Medtronic Navigation Inc. | Combination of electromagnetic and electropotential localization |
KR100996826B1 (en) | 2008-12-31 | 2010-11-26 | 주식회사 사이버메드 | Method of calibrating an instrument used in surgical navigation system |
US8973584B2 (en) | 2009-02-13 | 2015-03-10 | Health Beacons, Inc. | Method and apparatus for locating passive integrated transponder tags |
US8355554B2 (en) | 2009-04-14 | 2013-01-15 | Sonosite, Inc. | Systems and methods for adaptive volume imaging |
US9532724B2 (en) | 2009-06-12 | 2017-01-03 | Bard Access Systems, Inc. | Apparatus and method for catheter navigation using endovascular energy mapping |
US9339206B2 (en) | 2009-06-12 | 2016-05-17 | Bard Access Systems, Inc. | Adaptor for endovascular electrocardiography |
US8338788B2 (en) | 2009-07-29 | 2012-12-25 | Spectrum Dynamics Llc | Method and system of optimized volumetric imaging |
WO2011019760A2 (en) | 2009-08-10 | 2011-02-17 | Romedex International Srl | Devices and methods for endovascular electrography |
US8494613B2 (en) | 2009-08-31 | 2013-07-23 | Medtronic, Inc. | Combination localization system |
US8494614B2 (en) * | 2009-08-31 | 2013-07-23 | Regents Of The University Of Minnesota | Combination localization system |
EP2475313B1 (en) * | 2009-09-10 | 2016-07-20 | Exactech Inc. | Alignment guides for use in computer assisted orthopedic surgery to prepare a bone element for an implant |
AU2010300677B2 (en) | 2009-09-29 | 2014-09-04 | C.R. Bard, Inc. | Stylets for use with apparatus for intravascular placement of a catheter |
US11103213B2 (en) | 2009-10-08 | 2021-08-31 | C. R. Bard, Inc. | Spacers for use with an ultrasound probe |
US8355774B2 (en) | 2009-10-30 | 2013-01-15 | Medtronic, Inc. | System and method to evaluate electrode position and spacing |
EP2531098B1 (en) | 2010-02-02 | 2020-07-15 | C.R. Bard, Inc. | Apparatus and method for catheter navigation and tip location |
US9341704B2 (en) | 2010-04-13 | 2016-05-17 | Frederic Picard | Methods and systems for object tracking |
ES2864665T3 (en) | 2010-05-28 | 2021-10-14 | Bard Inc C R | Apparatus for use with needle insertion guidance system |
WO2012021542A2 (en) | 2010-08-09 | 2012-02-16 | C.R. Bard, Inc. | Support and cover structures for an ultrasound probe head |
BR112013002431B1 (en) | 2010-08-20 | 2021-06-29 | C.R. Bard, Inc | SYSTEM FOR RECONFIRMING THE POSITION OF A CATHETER INSIDE A PATIENT |
US9604142B2 (en) | 2010-08-26 | 2017-03-28 | Blast Motion Inc. | Portable wireless mobile device motion capture data mining system and method |
US9261526B2 (en) | 2010-08-26 | 2016-02-16 | Blast Motion Inc. | Fitting system for sporting equipment |
US9418705B2 (en) | 2010-08-26 | 2016-08-16 | Blast Motion Inc. | Sensor and media event detection system |
US9940508B2 (en) | 2010-08-26 | 2018-04-10 | Blast Motion Inc. | Event detection, confirmation and publication system that integrates sensor data and social media |
US9646209B2 (en) | 2010-08-26 | 2017-05-09 | Blast Motion Inc. | Sensor and media event detection and tagging system |
US9320957B2 (en) | 2010-08-26 | 2016-04-26 | Blast Motion Inc. | Wireless and visual hybrid motion capture system |
US9619891B2 (en) | 2010-08-26 | 2017-04-11 | Blast Motion Inc. | Event analysis and tagging system |
US8941723B2 (en) | 2010-08-26 | 2015-01-27 | Blast Motion Inc. | Portable wireless mobile device motion capture and analysis system and method |
US9607652B2 (en) | 2010-08-26 | 2017-03-28 | Blast Motion Inc. | Multi-sensor event detection and tagging system |
US9626554B2 (en) * | 2010-08-26 | 2017-04-18 | Blast Motion Inc. | Motion capture system that combines sensors with different measurement ranges |
US9247212B2 (en) * | 2010-08-26 | 2016-01-26 | Blast Motion Inc. | Intelligent motion capture element |
US9076041B2 (en) | 2010-08-26 | 2015-07-07 | Blast Motion Inc. | Motion event recognition and video synchronization system and method |
US9406336B2 (en) | 2010-08-26 | 2016-08-02 | Blast Motion Inc. | Multi-sensor event detection system |
US9396385B2 (en) | 2010-08-26 | 2016-07-19 | Blast Motion Inc. | Integrated sensor and video motion analysis method |
US9401178B2 (en) | 2010-08-26 | 2016-07-26 | Blast Motion Inc. | Event analysis system |
CN103189009B (en) | 2010-10-29 | 2016-09-07 | C·R·巴德股份有限公司 | The bio-impedance auxiliary of Medical Devices is placed |
US8687172B2 (en) | 2011-04-13 | 2014-04-01 | Ivan Faul | Optical digitizer with improved distance measurement capability |
DE102011050240A1 (en) * | 2011-05-10 | 2012-11-15 | Medizinische Hochschule Hannover | Apparatus and method for determining the relative position and orientation of objects |
US11911117B2 (en) | 2011-06-27 | 2024-02-27 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
CN106913366B (en) | 2011-06-27 | 2021-02-26 | 内布拉斯加大学评议会 | On-tool tracking system and computer-assisted surgery method |
US9498231B2 (en) | 2011-06-27 | 2016-11-22 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
KR20140051284A (en) | 2011-07-06 | 2014-04-30 | 씨. 알. 바드, 인크. | Needle length determination and calibration for insertion guidance system |
USD699359S1 (en) | 2011-08-09 | 2014-02-11 | C. R. Bard, Inc. | Ultrasound probe head |
USD724745S1 (en) | 2011-08-09 | 2015-03-17 | C. R. Bard, Inc. | Cap for an ultrasound probe |
US9067690B2 (en) * | 2011-08-23 | 2015-06-30 | The Boeing Company | Cataloging system for recording manufacture anomaly data related to type, severity, and position with a wireless probe |
US9211107B2 (en) | 2011-11-07 | 2015-12-15 | C. R. Bard, Inc. | Ruggedized ultrasound hydrogel insert |
DE102011119012A1 (en) * | 2011-11-16 | 2013-05-16 | Carl Zeiss Industrielle Messtechnik Gmbh | Coordinate measuring system for e.g. desk for determining coordinates of surface points of workpiece, has data processing device determining coordinates of position change data, and transmitter for transmitting data to processing device |
US10602965B2 (en) | 2013-09-17 | 2020-03-31 | Medibotics | Wearable deformable conductive sensors for human motion capture including trans-joint pitch, yaw, and roll |
US9582072B2 (en) | 2013-09-17 | 2017-02-28 | Medibotics Llc | Motion recognition clothing [TM] with flexible electromagnetic, light, or sonic energy pathways |
US10321873B2 (en) | 2013-09-17 | 2019-06-18 | Medibotics Llc | Smart clothing for ambulatory human motion capture |
US10716510B2 (en) | 2013-09-17 | 2020-07-21 | Medibotics | Smart clothing with converging/diverging bend or stretch sensors for measuring body motion or configuration |
US9588582B2 (en) | 2013-09-17 | 2017-03-07 | Medibotics Llc | Motion recognition clothing (TM) with two different sets of tubes spanning a body joint |
WO2013188833A2 (en) | 2012-06-15 | 2013-12-19 | C.R. Bard, Inc. | Apparatus and methods for detection of a removable cap on an ultrasound probe |
DE202012102496U1 (en) * | 2012-07-05 | 2012-09-13 | Montanuniversität Leoben | Error-prone sensor technology for determining a spatial relationship between plant components under harsh conditions |
US9008757B2 (en) | 2012-09-26 | 2015-04-14 | Stryker Corporation | Navigation system including optical and non-optical sensors |
US20140128739A1 (en) * | 2012-11-07 | 2014-05-08 | General Electric Company | Ultrasound imaging system and method |
US20140146038A1 (en) * | 2012-11-28 | 2014-05-29 | International Business Machines Corporation | Augmented display of internal system components |
US10383542B2 (en) * | 2013-03-14 | 2019-08-20 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Device, system, and method for intracardiac diagnosis or therapy with localization |
US9844324B2 (en) | 2013-03-14 | 2017-12-19 | X-Nav Technologies, LLC | Image guided navigation system |
US10105149B2 (en) | 2013-03-15 | 2018-10-23 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
JP6204686B2 (en) | 2013-04-12 | 2017-09-27 | 任天堂株式会社 | Information processing program, information processing system, information processing apparatus, and information processing execution method |
US9480415B2 (en) * | 2013-04-26 | 2016-11-01 | Medtronic Navigation, Inc. | Electromagnetic coil apparatuses for surgical navigation and corresponding methods |
JP6185301B2 (en) * | 2013-06-21 | 2017-08-23 | 任天堂株式会社 | Information processing program, information processing apparatus, information processing system, and method for calculating indicated position |
US9381417B2 (en) | 2013-08-16 | 2016-07-05 | Shimano Inc. | Bicycle fitting system |
DE102013222230A1 (en) * | 2013-10-31 | 2015-04-30 | Fiagon Gmbh | Surgical instrument |
JP6320000B2 (en) * | 2013-11-22 | 2018-05-09 | 株式会社日立システムズ | Spatial coordinate measurement method, spatial coordinate measurement system, spatial coordinate measurement program, and laser pointer |
JP6227395B2 (en) * | 2013-12-18 | 2017-11-08 | 株式会社ミツトヨ | Three-dimensional measurement system, three-dimensional measurement method, object to be measured, and position detection device |
ES2811323T3 (en) | 2014-02-06 | 2021-03-11 | Bard Inc C R | Systems for the guidance and placement of an intravascular device |
US9443311B2 (en) * | 2014-06-12 | 2016-09-13 | Topcon Positioning Systems, Inc. | Method and system to identify a position of a measurement pole |
US10188310B2 (en) | 2014-08-24 | 2019-01-29 | Health Beacons, Inc. | Probe for determining magnetic marker locations |
CN114224438A (en) * | 2014-09-05 | 2022-03-25 | 普罗赛普特生物机器人公司 | Physician-controlled tissue ablation in conjunction with treatment mapping of target organ images |
US9943374B2 (en) | 2014-09-16 | 2018-04-17 | X-Nav Technologies, LLC | Image guidance system for detecting and tracking an image pose |
US9402691B2 (en) | 2014-09-16 | 2016-08-02 | X-Nav Technologies, LLC | System for determining and tracking movement during a medical procedure |
WO2016070013A1 (en) | 2014-10-31 | 2016-05-06 | Medtronic Advanced Energy Llc | Fingerswitch circuitry to reduce rf leakage current |
US10973584B2 (en) | 2015-01-19 | 2021-04-13 | Bard Access Systems, Inc. | Device and method for vascular access |
US10285760B2 (en) | 2015-02-04 | 2019-05-14 | Queen's University At Kingston | Methods and apparatus for improved electromagnetic tracking and localization |
CA2979560C (en) * | 2015-03-05 | 2023-11-07 | Magic Leap, Inc. | Systems and methods for augmented reality |
US11096605B2 (en) | 2015-03-31 | 2021-08-24 | Medtronic Navigation, Inc. | Modular coil assembly |
US10470724B2 (en) | 2015-04-13 | 2019-11-12 | Precisionrad Llc | Laser and accelerometer guided medical device |
WO2016210325A1 (en) | 2015-06-26 | 2016-12-29 | C.R. Bard, Inc. | Connector interface for ecg-based catheter positioning system |
CA3031040C (en) | 2015-07-16 | 2021-02-16 | Blast Motion Inc. | Multi-sensor event correlation system |
US11565163B2 (en) | 2015-07-16 | 2023-01-31 | Blast Motion Inc. | Equipment fitting system that compares swing metrics |
US11577142B2 (en) | 2015-07-16 | 2023-02-14 | Blast Motion Inc. | Swing analysis system that calculates a rotational profile |
US10124230B2 (en) | 2016-07-19 | 2018-11-13 | Blast Motion Inc. | Swing analysis method using a sweet spot trajectory |
US10974121B2 (en) | 2015-07-16 | 2021-04-13 | Blast Motion Inc. | Swing quality measurement system |
US9694267B1 (en) | 2016-07-19 | 2017-07-04 | Blast Motion Inc. | Swing analysis method using a swing plane reference frame |
US10105187B2 (en) * | 2015-08-27 | 2018-10-23 | Medtronic, Inc. | Systems, apparatus, methods and computer-readable storage media facilitating surgical procedures utilizing augmented reality |
ITUB20169908A1 (en) * | 2016-01-11 | 2017-07-11 | Torino Politecnico | Feeler device, marker for feeler device and measurement system for making photogrammetric measurements of large objects |
WO2017131547A1 (en) | 2016-01-25 | 2017-08-03 | Limited Liability Company "Topcon Positioning Systems" | A method and apparatus for single camera optical measurements |
US11000207B2 (en) | 2016-01-29 | 2021-05-11 | C. R. Bard, Inc. | Multiple coil system for tracking a medical device |
US10265602B2 (en) | 2016-03-03 | 2019-04-23 | Blast Motion Inc. | Aiming feedback system with inertial sensors |
US10635758B2 (en) | 2016-07-15 | 2020-04-28 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
US10865578B2 (en) | 2016-07-15 | 2020-12-15 | Fastbrick Ip Pty Ltd | Boom for material transport |
CN106483477B (en) * | 2016-11-06 | 2023-09-26 | 珠海市运泰利自动化设备有限公司 | Magnetic flux 3D test platform |
US10376235B2 (en) | 2016-12-21 | 2019-08-13 | Industrial Technology Research Institute | Needle guide system and medical intervention system |
US11646113B2 (en) | 2017-04-24 | 2023-05-09 | Biosense Webster (Israel) Ltd. | Systems and methods for determining magnetic location of wireless tools |
US10786728B2 (en) | 2017-05-23 | 2020-09-29 | Blast Motion Inc. | Motion mirroring system that incorporates virtual environment constraints |
CN111095355B (en) | 2017-07-05 | 2023-10-20 | 快砖知识产权私人有限公司 | Real-time positioning and orientation tracker |
AU2018317941B2 (en) | 2017-08-17 | 2023-11-09 | Fastbrick Ip Pty Ltd | Laser tracker with improved roll angle measurement |
WO2019033166A1 (en) | 2017-08-17 | 2019-02-21 | Fastbrick Ip Pty Ltd | Communication system for an interaction system |
ES2971624T3 (en) | 2017-10-11 | 2024-06-06 | Fastbrick Ip Pty Ltd | Machine for transporting objects |
AU2019208033A1 (en) | 2018-01-12 | 2020-09-03 | Capstone Surgical Technologies, Llc | Surgical sensor anchor system |
US10992079B2 (en) | 2018-10-16 | 2021-04-27 | Bard Access Systems, Inc. | Safety-equipped connection systems and methods thereof for establishing electrical connections |
US10824244B2 (en) * | 2018-11-19 | 2020-11-03 | Facebook Technologies, Llc | Systems and methods for transitioning between modes of tracking real-world objects for artificial reality interfaces |
US11426242B2 (en) | 2019-01-30 | 2022-08-30 | Medtronic Navigation, Inc. | System and method for registration between coordinate systems and navigation of selected members |
US11911110B2 (en) * | 2019-01-30 | 2024-02-27 | Medtronic Navigation, Inc. | System and method for registration between coordinate systems and navigation of selected members |
US11055873B2 (en) | 2019-02-01 | 2021-07-06 | Tcc Media Lab Co., Ltd | Composite image generation system and position information correction system |
EP3719749A1 (en) | 2019-04-03 | 2020-10-07 | Fiagon AG Medical Technologies | Registration method and setup |
US10962990B2 (en) * | 2019-08-07 | 2021-03-30 | Bae Systems Information And Electronic Systems Integration Inc. | Attitude determination by pulse beacon and low cost inertial measuring unit |
DE102019007290A1 (en) * | 2019-10-21 | 2021-04-22 | Karl Storz Se & Co. Kg | Sensor-based surgery set and procedure |
US20230255694A1 (en) * | 2022-02-15 | 2023-08-17 | Mazor Robotics Ltd. | Systems and methods for validating a pose of a marker |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5422715A (en) * | 1993-03-11 | 1995-06-06 | Clarke; Thomas L. | Hybrid orthogonal localization and orientation system |
US5831260A (en) | 1996-09-10 | 1998-11-03 | Ascension Technology Corporation | Hybrid motion tracker |
Family Cites Families (59)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4323459A (en) | 1978-08-09 | 1982-04-06 | Petrolite Corporation | Process of inhibiting scale formation in aqueous systems using quaternary ammonium salts of α-1,4-thiazine alkanephosphonic acids |
US4396945A (en) | 1981-08-19 | 1983-08-02 | Solid Photography Inc. | Method of sensing the position and orientation of elements in space |
US4722056A (en) | 1986-02-18 | 1988-01-26 | Trustees Of Dartmouth College | Reference display systems for superimposing a tomagraphic image onto the focal plane of an operating microscope |
DE3717871C3 (en) | 1987-05-27 | 1995-05-04 | Georg Prof Dr Schloendorff | Method and device for reproducible visual representation of a surgical intervention |
KR970001431B1 (en) | 1987-05-27 | 1997-02-06 | 쉬뢴도르프 게오르그 | Process and device for optical representation of surgical operation |
JPS6472736A (en) | 1987-09-14 | 1989-03-17 | Toshiba Corp | Mri apparatus |
US4991579A (en) | 1987-11-10 | 1991-02-12 | Allen George S | Method and apparatus for providing related images over time of a portion of the anatomy using fiducial implants |
EP0326768A3 (en) | 1988-02-01 | 1991-01-23 | Faro Medical Technologies Inc. | Computer-aided surgery apparatus |
US4951653A (en) | 1988-03-02 | 1990-08-28 | Laboratory Equipment, Corp. | Ultrasound brain lesioning system |
US4869247A (en) | 1988-03-11 | 1989-09-26 | The University Of Virginia Alumni Patents Foundation | Video tumor fighting system |
IT1227365B (en) | 1988-11-18 | 1991-04-08 | Istituto Neurologico Carlo Bes | PROCEDURE AND EQUIPMENT PARTICULARLY FOR THE GUIDE OF NEUROSURGICAL OPERATIONS |
JPH02249975A (en) * | 1989-03-24 | 1990-10-05 | Hitachi Ltd | Magnetic acceleration sensor |
JPH0337513A (en) * | 1989-07-04 | 1991-02-18 | Toshiba Corp | Three-dimensional position/speed measuring apparatus |
JPH0648209B2 (en) * | 1989-08-29 | 1994-06-22 | 株式会社三ツ葉電機製作所 | Flowmeter |
EP0427358B1 (en) | 1989-11-08 | 1996-03-27 | George S. Allen | Mechanical arm for and interactive image-guided surgical system |
US5222499A (en) | 1989-11-15 | 1993-06-29 | Allen George S | Method and apparatus for imaging the anatomy |
JPH07109376B2 (en) * | 1990-03-15 | 1995-11-22 | 東京瓦斯株式会社 | Composite sensor output signal processing method |
JP2653210B2 (en) | 1990-03-16 | 1997-09-17 | 天美 加藤 | Stereotactic brain surgery support device |
JPH04113207A (en) * | 1990-09-03 | 1992-04-14 | Tokimec Inc | Method for measuring hole-bending |
JPH04127013A (en) * | 1990-09-18 | 1992-04-28 | Aoki Corp | Shield surveying method |
US5198877A (en) | 1990-10-15 | 1993-03-30 | Pixsys, Inc. | Method and apparatus for three-dimensional non-contact shape sensing |
CA2094251C (en) | 1990-10-19 | 1999-01-19 | Richard D. Bucholz | Surgical probe locating system for head use |
JPH05127809A (en) * | 1991-04-19 | 1993-05-25 | Sharp Corp | Three-dimensional spatial coordinate input device |
DE4207901C3 (en) | 1992-03-12 | 1999-10-07 | Aesculap Ag & Co Kg | Method and device for displaying a work area in a three-dimensional structure |
US5339259A (en) * | 1992-07-10 | 1994-08-16 | Northrop Grumman Corporation | High speed high resolution ultrasonic position and orientation tracker |
AT399647B (en) | 1992-07-31 | 1995-06-26 | Truppe Michael | ARRANGEMENT FOR DISPLAYING THE INTERIOR OF BODIES |
US5309101A (en) | 1993-01-08 | 1994-05-03 | General Electric Company | Magnetic resonance imaging in an inhomogeneous magnetic field |
US5799099A (en) | 1993-02-12 | 1998-08-25 | George S. Allen | Automatic technique for localizing externally attached fiducial markers in volume images of the head |
US5551429A (en) | 1993-02-12 | 1996-09-03 | Fitzpatrick; J. Michael | Method for relating the data of an image space to physical space |
US5575794A (en) | 1993-02-12 | 1996-11-19 | Walus; Richard L. | Tool for implanting a fiducial marker |
US5453686A (en) * | 1993-04-08 | 1995-09-26 | Polhemus Incorporated | Pulsed-DC position and orientation measurement system |
CA2161126C (en) | 1993-04-22 | 2007-07-31 | Waldean A. Schulz | System for locating relative positions of objects |
WO1994024933A1 (en) | 1993-04-26 | 1994-11-10 | St. Louis University | Indicating the position of a surgical probe |
EP0649117A3 (en) | 1993-10-15 | 1996-01-31 | George S Allen | Method for providing medical images. |
US5394875A (en) | 1993-10-21 | 1995-03-07 | Lewis; Judith T. | Automatic ultrasonic localization of targets implanted in a portion of the anatomy |
US5549616A (en) | 1993-11-02 | 1996-08-27 | Loma Linda University Medical Center | Vacuum-assisted stereotactic fixation system with patient-activated switch |
JP2566111B2 (en) | 1994-01-31 | 1996-12-25 | シャープ株式会社 | Magneto-optical memory device |
JPH07294450A (en) * | 1994-04-27 | 1995-11-10 | Oki Electric Ind Co Ltd | Soldering inspection method for high density surface mounting substrate |
JP3267054B2 (en) | 1994-06-13 | 2002-03-18 | トヨタ自動車株式会社 | Power storage device for solar power |
SE504846C2 (en) * | 1994-09-28 | 1997-05-12 | Jan G Faeger | Control equipment with a movable control means |
US5891157A (en) | 1994-09-30 | 1999-04-06 | Ohio Medical Instrument Company, Inc. | Apparatus for surgical stereotactic procedures |
US5695501A (en) | 1994-09-30 | 1997-12-09 | Ohio Medical Instrument Company, Inc. | Apparatus for neurosurgical stereotactic procedures |
US5930741A (en) * | 1995-02-28 | 1999-07-27 | Virtual Technologies, Inc. | Accurate, rapid, reliable position sensing using multiple sensing technologies |
US5640170A (en) * | 1995-06-05 | 1997-06-17 | Polhemus Incorporated | Position and orientation measuring system having anti-distortion source configuration |
US5617857A (en) | 1995-06-06 | 1997-04-08 | Image Guided Technologies, Inc. | Imaging system having interactive medical instruments and methods |
US5752513A (en) | 1995-06-07 | 1998-05-19 | Biosense, Inc. | Method and apparatus for determining position of object |
US5638819A (en) | 1995-08-29 | 1997-06-17 | Manwaring; Kim H. | Method and apparatus for guiding an instrument to a target |
US5711299A (en) | 1996-01-26 | 1998-01-27 | Manwaring; Kim H. | Surgical guidance method and system for approaching a target within a body |
JPH09257461A (en) * | 1996-03-18 | 1997-10-03 | Ricoh Co Ltd | Three-dimensional coordinate measuring apparatus |
US5954648A (en) | 1996-04-29 | 1999-09-21 | U.S. Philips Corporation | Image guided surgery system |
JPH10149445A (en) * | 1996-11-19 | 1998-06-02 | Image Joho Kagaku Kenkyusho | Device for visualizing physical operation analysis |
JP3551663B2 (en) * | 1996-11-25 | 2004-08-11 | 松下電器産業株式会社 | Navigation device |
US5921992A (en) | 1997-04-11 | 1999-07-13 | Radionics, Inc. | Method and system for frameless tool calibration |
US5970499A (en) | 1997-04-11 | 1999-10-19 | Smith; Kurt R. | Method and apparatus for producing and accessing composite data |
JP3983849B2 (en) * | 1997-05-02 | 2007-09-26 | パイオニア株式会社 | Navigation device |
US5907395A (en) | 1997-06-06 | 1999-05-25 | Image Guided Technologies, Inc. | Optical fiber probe for position measurement |
JP4155344B2 (en) | 1997-07-03 | 2008-09-24 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | Image guided surgery system |
US6081336A (en) | 1997-09-26 | 2000-06-27 | Picker International, Inc. | Microscope calibrator |
US6235038B1 (en) | 1999-10-28 | 2001-05-22 | Medtronic Surgical Navigation Technologies | System for translation of electromagnetic and optical localization systems |
-
1999
- 1999-12-22 US US09/868,948 patent/US6611141B1/en not_active Expired - Lifetime
- 1999-12-22 JP JP2000591424A patent/JP4612194B2/en not_active Expired - Lifetime
- 1999-12-22 EP EP99966527A patent/EP1153292B1/en not_active Expired - Lifetime
- 1999-12-22 WO PCT/US1999/030494 patent/WO2000039576A1/en active Application Filing
- 1999-12-22 AU AU22042/00A patent/AU2204200A/en not_active Abandoned
- 1999-12-22 CA CA002356271A patent/CA2356271A1/en not_active Abandoned
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5422715A (en) * | 1993-03-11 | 1995-06-06 | Clarke; Thomas L. | Hybrid orthogonal localization and orientation system |
US5831260A (en) | 1996-09-10 | 1998-11-03 | Ascension Technology Corporation | Hybrid motion tracker |
Non-Patent Citations (3)
Title |
---|
BIRKFELLNER; WOLFGANG ET AL.: "Medical Image Computing and Computer-Assisted Intervention", MICCAI. INTERNATIONAL CONFERENCE PROCEEDINGS, vol. 1496, 11 October 1998 (1998-10-11), pages 343 - 351 |
See also references of EP1153292A4 |
WOLFGANG BIRKFELLNER ET AL.: "Calibration of Tracking Systems in a Surgical Environment", IEEE TRANSACTIONS ON MEDICAL IMAGING, November 1998 (1998-11-01), pages 17 |
Cited By (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6288785B1 (en) | 1999-10-28 | 2001-09-11 | Northern Digital, Inc. | System for determining spatial position and/or orientation of one or more objects |
EP1096268A3 (en) * | 1999-10-28 | 2003-12-10 | Northern Digital Inc. | System for determining the spatial position and/or orientation of one or more objects |
EP1096268A2 (en) * | 1999-10-28 | 2001-05-02 | Northern Digital Inc. | System for determining the spatial position and/or orientation of one or more objects |
US7725162B2 (en) | 2000-01-27 | 2010-05-25 | Howmedica Leibinger Inc. | Surgery system |
US6497134B1 (en) | 2000-03-15 | 2002-12-24 | Image Guided Technologies, Inc. | Calibration of an instrument |
WO2002036178A2 (en) * | 2000-10-31 | 2002-05-10 | Northern Digital, Inc. | A flexible instrument with optical sensors |
WO2002036178A3 (en) * | 2000-10-31 | 2002-09-19 | Northern Digital Inc | A flexible instrument with optical sensors |
US7194296B2 (en) | 2000-10-31 | 2007-03-20 | Northern Digital Inc. | Flexible instrument with optical sensors |
US7343359B2 (en) | 2001-03-21 | 2008-03-11 | Francotyp - Postalia Gmbh | Franking machine having a retrofittable weighing device |
DE10341984B3 (en) * | 2003-09-08 | 2005-06-09 | Aesculap Ag & Co. Kg | Surgical pointer instrument for navigation-assisted surgery with deliberate rupture of elongate section of instrument body between pointer end and coupling region for identification device |
US8548822B2 (en) | 2003-12-19 | 2013-10-01 | Stryker Leibinger Gmbh & Co., Kg | Reactive workflow system and method |
US8290570B2 (en) | 2004-09-10 | 2012-10-16 | Stryker Leibinger Gmbh & Co., Kg | System for ad hoc tracking of an object |
EP1772110A1 (en) | 2005-10-07 | 2007-04-11 | BrainLAB AG | Medical marker |
US7527387B2 (en) | 2005-10-07 | 2009-05-05 | Brainlab Ag | Medical marker means |
WO2009128062A3 (en) * | 2008-04-15 | 2009-12-03 | Navotek Medical Ltd. | Hybrid medical device localization system |
WO2009128062A2 (en) * | 2008-04-15 | 2009-10-22 | Navotek Medical Ltd. | Hybrid medical device localization system |
US8931325B2 (en) | 2008-12-15 | 2015-01-13 | Alignment Systems Ab | Device and method for measuring a construction |
RU2515961C2 (en) * | 2008-12-15 | 2014-05-20 | Элайнмент Системз Аб | Method and device for structure dimensions measuring |
WO2010071571A1 (en) * | 2008-12-15 | 2010-06-24 | Alignment Systems Ab | Device and method for measuring a construction |
WO2011036033A1 (en) * | 2009-09-23 | 2011-03-31 | Carl Zeiss Ag | Method and device for determining the orientation and position of an object |
US8279412B2 (en) | 2009-12-17 | 2012-10-02 | The Boeing Company | Position and orientation determination using movement data |
WO2011075251A1 (en) * | 2009-12-17 | 2011-06-23 | The Boeing Company | Position and orientation determination using movement data |
US9423250B1 (en) | 2009-12-17 | 2016-08-23 | The Boeing Company | Position measurement correction using loop-closure and movement data |
US9913693B2 (en) | 2010-10-29 | 2018-03-13 | Medtronic, Inc. | Error correction techniques in surgical navigation |
CN103189013A (en) * | 2010-10-29 | 2013-07-03 | 美敦力公司 | Error correction techniques in surgical navigation |
WO2012057871A1 (en) * | 2010-10-29 | 2012-05-03 | Medtronic, Inc. | Error correction techniques in surgical navigation |
EP2620798A1 (en) * | 2012-01-25 | 2013-07-31 | Harman Becker Automotive Systems GmbH | Head tracking system |
US9058681B2 (en) | 2012-06-01 | 2015-06-16 | The Boeing Company | Sensor-enhanced localization in virtual and physical environments |
EP3181085A4 (en) * | 2014-08-13 | 2018-04-04 | Koh Young Technology Inc. | Tracking system and tracking method using same |
US10799299B2 (en) | 2014-08-13 | 2020-10-13 | Koh Young Technology Inc. | Tracking system and tracking method using same |
US11730547B2 (en) | 2014-08-13 | 2023-08-22 | Koh Young Technology Inc. | Tracking system and tracking method using same |
EP3381398A4 (en) * | 2015-11-27 | 2018-12-05 | Curexo, Inc. | System for identifying position of marker for orthopedic surgery and method for identifying same |
US11202685B2 (en) | 2015-11-27 | 2021-12-21 | Curexo, Inc. | System for identifying position of marker for orthopedic surgery and method for identifying same |
US11877808B2 (en) | 2016-10-21 | 2024-01-23 | Mobius Imaging, Llc | Methods and systems for setting trajectories and target locations for image guided surgery |
DE102021118589A1 (en) | 2021-07-19 | 2023-03-09 | Technische Universität Dresden | System and method for determining a spatial magnetic field characteristic |
Also Published As
Publication number | Publication date |
---|---|
CA2356271A1 (en) | 2000-07-06 |
EP1153292A1 (en) | 2001-11-14 |
EP1153292B1 (en) | 2011-08-24 |
AU2204200A (en) | 2000-07-31 |
US6611141B1 (en) | 2003-08-26 |
JP4612194B2 (en) | 2011-01-12 |
JP2002533721A (en) | 2002-10-08 |
EP1153292A4 (en) | 2007-12-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1153292B1 (en) | A hybrid 3-d probe tracked by multiple sensors | |
JP5244602B2 (en) | Multi-face tracking device for computer-assisted surgery | |
US9115998B2 (en) | Tracking system and method | |
Foxlin et al. | Constellation: A wide-range wireless motion-tracking system for augmented reality and virtual set applications | |
JP6114241B2 (en) | Tracking device and tracking method | |
EP1913333B1 (en) | System and method for detecting drifts in calibrated tracking systems | |
CN104684502B (en) | Navigation system including optical sensor and non-optical sensor | |
EP2350562B1 (en) | Positioning interface for spatial query | |
CA2715898C (en) | Tracking system and method | |
EP1540275B1 (en) | Multi-dimensional measuring system | |
US20070239169A1 (en) | Reference marker and use in a motion tracking system | |
WO2001037748A2 (en) | Method and apparatus for transforming view orientations in image-guided surgery | |
US9157762B2 (en) | Method and apparatus for directional calibration and tracking | |
JP2011517971A5 (en) | ||
EP1421409A1 (en) | Six dimensional laser tracking system and method | |
AU2008329463A1 (en) | Optical tracking CAS system | |
JP2023501053A (en) | Navigation methods for positioning medical robots | |
CN112815834B (en) | Optical positioning system | |
US20050062469A1 (en) | System and method for hemisphere disambiguation in electromagnetic tracking systems | |
Baratoff et al. | Tracking devices | |
US20210327089A1 (en) | Method for Measuring Positions | |
EP3719749A1 (en) | Registration method and setup | |
CN111821026B (en) | Single-point positioning surgical instrument, calibration tool and calibration method | |
JP2023530111A (en) | Methods and systems for navigation and/or robotic tracking | |
Israel et al. | Design and construction of tools with reflecting-disks fiducials for optical stereo trackers: An afforable technique for navigation tools development |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AL AM AT AU AZ BA BB BG BR BY CA CH CN CR CU CZ DE DK DM EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): GH GM KE LS MW SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
WWE | Wipo information: entry into national phase |
Ref document number: 22042/00 Country of ref document: AU |
|
ENP | Entry into the national phase |
Ref document number: 2356271 Country of ref document: CA Ref country code: CA Ref document number: 2356271 Kind code of ref document: A Format of ref document f/p: F |
|
ENP | Entry into the national phase |
Ref country code: JP Ref document number: 2000 591424 Kind code of ref document: A Format of ref document f/p: F |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1999966527 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 09868948 Country of ref document: US |
|
REG | Reference to national code |
Ref country code: DE Ref legal event code: 8642 |
|
WWP | Wipo information: published in national office |
Ref document number: 1999966527 Country of ref document: EP |