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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 PDF

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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
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2008/006830
Other languages
English (en)
French (fr)
Other versions
WO2009033552A2 (de
Inventor
Robert Elfring
Matias De La Fuente Klein
Klaus Radermacher
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rheinisch Westlische Technische Hochschuke RWTH
Original Assignee
Rheinisch Westlische Technische Hochschuke RWTH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rheinisch Westlische Technische Hochschuke RWTH filed Critical Rheinisch Westlische Technische Hochschuke RWTH
Publication of WO2009033552A2 publication Critical patent/WO2009033552A2/de
Anticipated expiration legal-status Critical
Publication of WO2009033552A3 publication Critical patent/WO2009033552A3/de
Ceased legal-status Critical Current

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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 diagnostic devices within or on the body of the patient

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Human Computer Interaction (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Surgery (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)

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.
PCT/EP2008/006830 2007-09-07 2008-08-20 Verfahren und system zur bestimmung der position und/oder orientierung eines objektes Ceased WO2009033552A2 (de)

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 Ceased 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)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102597306A (zh) 2009-07-26 2012-07-18 莱博德光学有限责任公司 处理室的清洁
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)

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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

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Publication number Priority date Publication date Assignee Title
US5558091A (en) * 1993-10-06 1996-09-24 Biosense, Inc. Magnetic determination of position and orientation
DE69732362T2 (de) * 1996-02-15 2006-03-23 Biosense Webster, Inc., Diamond Bar Methode zur Eichung einer Sonde
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
WO2007061890A2 (en) * 2005-11-17 2007-05-31 Calypso Medical Technologies, Inc. Apparatus and methods for using an electromagnetic transponder in orthopedic procedures

Patent Citations (11)

* Cited by examiner, † Cited by third party
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
DE102007042622A1 (de) 2009-03-12
WO2009033552A2 (de) 2009-03-19

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