WO2009033552A3 - Verfahren und system zur bestimmung der position und/oder orientierung eines objektes - Google Patents
Verfahren und system zur bestimmung der position und/oder orientierung eines objektes Download PDFInfo
- Publication number
- WO2009033552A3 WO2009033552A3 PCT/EP2008/006830 EP2008006830W WO2009033552A3 WO 2009033552 A3 WO2009033552 A3 WO 2009033552A3 EP 2008006830 W EP2008006830 W EP 2008006830W WO 2009033552 A3 WO2009033552 A3 WO 2009033552A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- orientation
- field
- measured
- determined
- magnetic field
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
Abstract
Die Erfindung betrifft ein Verfahren und ein System zur Bestimmung der Position und/oder Orientierung eines Objektes, bei dem mittels wenigstens eines Feldsensors am/im Objekt das durch wenigstens einen Emitter erzeugte elektromagnetische Feld gemessen und aus dem Messwert/den Messwerten die Objektposition und/oder Objektorientierung im erzeugten elektromagnetischen Feld ermittelt wird, dadurch gekennzeichnet, dass zur Kompensation von Störungen im erzeugten elektromagnetischen Feld, insbesondere in der Umgebung des Objektes ein Referenzobjekt (1 ) mit wenigstens zwei Feldsensoren (2a, 2b, 2c, 2d) angeordnet wird, deren relative räumliche Soll- Positionen (01, 02, 03, 04) zueinander bekannt, insbesondere fest und bekannt sind, wobei mittels den Feldsensoren (2a, 2b, 2c, 2d) des Referenzobjekts (1) das elektromagnetische Feld gemessen und aus dem Messwert / den Messwerten fehlerbehaftete Ist-Position (V1, V2, V3, V4) der Feldsensoren (2a, 2b, 2c, 2d) des Referenzobjektes (1 ) ermittelt werden und anhand der Abweichungen zwischen Ist- und Soll-Positionen eine Korrektur ermittelt wird, mittels der die gemessene Objektposition (P1', P2') und/oder Objektorientierung insbesondere in Echtzeit korrigiert wird.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007042622.6 | 2007-09-07 | ||
DE200710042622 DE102007042622A1 (de) | 2007-09-07 | 2007-09-07 | Verfahren und System zur Bestimmung der Position und/oder Orientierung eines Objektes |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2009033552A2 WO2009033552A2 (de) | 2009-03-19 |
WO2009033552A3 true WO2009033552A3 (de) | 2010-07-15 |
Family
ID=40339989
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2008/006830 WO2009033552A2 (de) | 2007-09-07 | 2008-08-20 | Verfahren und system zur bestimmung der position und/oder orientierung eines objektes |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE102007042622A1 (de) |
WO (1) | WO2009033552A2 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120180810A1 (en) | 2009-07-26 | 2012-07-19 | Leybold Optics Gmbh | Cleaning of a process chamber |
CN105268775A (zh) * | 2015-10-29 | 2016-01-27 | 綦江永跃齿轮有限公司 | 齿圈静压校正检测一体机 |
CN107807738B (zh) * | 2017-12-04 | 2023-08-15 | 成都思悟革科技有限公司 | 一种用于vr显示眼镜的头部动作捕捉系统及方法 |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1996032059A1 (en) * | 1995-04-10 | 1996-10-17 | Compass International Incorporated | Magnetic field digitizer for stereotactic surgery |
US6129668A (en) * | 1997-05-08 | 2000-10-10 | Lucent Medical Systems, Inc. | System and method to determine the location and orientation of an indwelling medical device |
US6516213B1 (en) * | 1999-09-03 | 2003-02-04 | Robin Medical, Inc. | Method and apparatus to estimate location and orientation of objects during magnetic resonance imaging |
US20030201767A1 (en) * | 1999-11-01 | 2003-10-30 | Igor Khalfin | Method and apparatus for electromagnetic position and orientation tracking with distortion compensation employing a modulated signal |
US20050107808A1 (en) * | 1998-11-20 | 2005-05-19 | Intuitive Surgical, Inc. | Performing cardiac surgery without cardioplegia |
WO2006054295A1 (en) * | 2004-11-21 | 2006-05-26 | Elbit Systems Ltd. | Electromagnetic tracker |
US7060075B2 (en) * | 2002-07-18 | 2006-06-13 | Biosense, Inc. | Distal targeting of locking screws in intramedullary nails |
US20070085027A1 (en) * | 2005-09-30 | 2007-04-19 | Baxter Bruce B | Real-time compensation of mechanical position error in pattern generation or imaging applications |
US20070124076A1 (en) * | 2002-03-01 | 2007-05-31 | Gentex Corporation | Electronic compass system |
US20070150195A1 (en) * | 2005-12-22 | 2007-06-28 | Koskan Patrick D | Method and apparatus of obtaining improved location accuracy using magnetic field mapping |
US20070165779A1 (en) * | 2006-01-19 | 2007-07-19 | Eastman Kodak Company | Real-time target confirmation for radiation therapy |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5558091A (en) * | 1993-10-06 | 1996-09-24 | Biosense, Inc. | Magnetic determination of position and orientation |
US6266551B1 (en) * | 1996-02-15 | 2001-07-24 | Biosense, Inc. | Catheter calibration and usage monitoring system |
DE19632273A1 (de) * | 1996-08-09 | 1998-02-12 | Helge Zwosta | Körpersensorik |
US6122538A (en) * | 1997-01-16 | 2000-09-19 | Acuson Corporation | Motion--Monitoring method and system for medical devices |
US5879297A (en) * | 1997-05-08 | 1999-03-09 | Lucent Medical Systems, Inc. | System and method to determine the location and orientation of an indwelling medical device |
US6756783B2 (en) * | 1999-06-01 | 2004-06-29 | Merlin Technology, Inc | Multi-frequency boring tool locating system and method |
US8239001B2 (en) * | 2003-10-17 | 2012-08-07 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US7046009B2 (en) * | 2003-12-24 | 2006-05-16 | Baker Hughes Incorporated | Method for measuring transient electromagnetic components to perform deep geosteering while drilling |
US20090216113A1 (en) * | 2005-11-17 | 2009-08-27 | Eric Meier | Apparatus and Methods for Using an Electromagnetic Transponder in Orthopedic Procedures |
-
2007
- 2007-09-07 DE DE200710042622 patent/DE102007042622A1/de not_active Withdrawn
-
2008
- 2008-08-20 WO PCT/EP2008/006830 patent/WO2009033552A2/de active Application Filing
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1996032059A1 (en) * | 1995-04-10 | 1996-10-17 | Compass International Incorporated | Magnetic field digitizer for stereotactic surgery |
US6129668A (en) * | 1997-05-08 | 2000-10-10 | Lucent Medical Systems, Inc. | System and method to determine the location and orientation of an indwelling medical device |
US20050107808A1 (en) * | 1998-11-20 | 2005-05-19 | Intuitive Surgical, Inc. | Performing cardiac surgery without cardioplegia |
US6516213B1 (en) * | 1999-09-03 | 2003-02-04 | Robin Medical, Inc. | Method and apparatus to estimate location and orientation of objects during magnetic resonance imaging |
US20030201767A1 (en) * | 1999-11-01 | 2003-10-30 | Igor Khalfin | Method and apparatus for electromagnetic position and orientation tracking with distortion compensation employing a modulated signal |
US20070124076A1 (en) * | 2002-03-01 | 2007-05-31 | Gentex Corporation | Electronic compass system |
US7060075B2 (en) * | 2002-07-18 | 2006-06-13 | Biosense, Inc. | Distal targeting of locking screws in intramedullary nails |
WO2006054295A1 (en) * | 2004-11-21 | 2006-05-26 | Elbit Systems Ltd. | Electromagnetic tracker |
US20070085027A1 (en) * | 2005-09-30 | 2007-04-19 | Baxter Bruce B | Real-time compensation of mechanical position error in pattern generation or imaging applications |
US20070150195A1 (en) * | 2005-12-22 | 2007-06-28 | Koskan Patrick D | Method and apparatus of obtaining improved location accuracy using magnetic field mapping |
US20070165779A1 (en) * | 2006-01-19 | 2007-07-19 | Eastman Kodak Company | Real-time target confirmation for radiation therapy |
Also Published As
Publication number | Publication date |
---|---|
WO2009033552A2 (de) | 2009-03-19 |
DE102007042622A1 (de) | 2009-03-12 |
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