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1. 发明授权

US6141104A System for determination of a location in three dimensional space 有权
标题翻译：用于确定三维空间中的位置的系统
公开(公告)号：US6141104A
公开(公告)日：2000-10-31
申请号：US150345
申请日：1998-09-09
申请人： Waldean A. Schulz , Robert Cormack
发明人： Waldean A. Schulz , Robert Cormack
IPC分类号： G01B11/03 , G01D5/34 , G01S3/783 , G01S5/16 , G06F3/03 , G06F3/033 , G06F3/042 , G01B11/14
CPC分类号： G06F3/0346 , G01D5/34 , G01S3/7835 , G01S5/16 , G06F3/0304
摘要： An optical improvement for angular position sensors, which may be used to determine the spatial coordinates of a small source of light (or other energy) in a 3-dimensional volume. Such sensors normally include a linear photosensitive image detector such as a photodiode array or a charge-coupled device (CCD). An irregular pattern of parallel slits is described which increases the amount of light gathered while avoiding the undesirable characteristics of lens optics for this application. One optimal type of irregular pattern is the uniformly redundant array. A mathematical correlation function together with a polynomial interpolation function can determine the displacement of the image on the detector and thereby the location of the source relative to one angular dimension. Given the locations and orientations of several sensors in a 3-dimensional coordinate system and given the angles measured by each, the location of the point source can be computed.
摘要翻译：用于角位置传感器的光学改进，其可用于确定三维体积中的小光源（或其他能量）的空间坐标。这种传感器通常包括诸如光电二极管阵列或电荷耦合器件（CCD）的线性光敏图像检测器。描述了平行狭缝的不规则图案，其增加了聚光的量，同时避免了用于该应用的透镜光学器件的不期望的特性。一种最佳类型的不规则图案是均匀冗余阵列。数学相关函数与多项式插值函数一起可以确定图像在检测器上的位移，从而确定源相对于一个角度尺寸的位置。给定三维坐标系中几个传感器的位置和方向，并给出由每个坐标系测量的角度，可以计算点源的位置。

2. 发明授权

US5617857A Imaging system having interactive medical instruments and methods 失效
标题翻译：具有交互式医疗仪器和方法的成像系统
公开(公告)号：US5617857A
公开(公告)日：1997-04-08
申请号：US471279
申请日：1995-06-06
申请人： Martin D. Chader , Ivan Faul , Timothy L. Feaver , Waldean A. Schulz
发明人： Martin D. Chader , Ivan Faul , Timothy L. Feaver , Waldean A. Schulz
IPC分类号： A61B5/06 , A61B17/00 , A61B19/00 , A61B5/00
CPC分类号： A61B5/06 , A61B34/20 , A61B90/10 , A61B90/98 , A61B2017/0046 , A61B2017/00464 , A61B2017/00482 , A61B2017/00725 , A61B2034/2055 , A61B2034/2072 , A61B2090/363 , A61B2090/3945 , A61B2562/08 , Y10S128/903
摘要： The invention provides an improved imaging system and method. The imaging system is of the type having a medical instrument including a source for emitting detectable energy and an instrument body having a work portion. The imaging system further includes detector for detecting the energy and a processor for determining the location of the medical instrument based on the detected energy. Such an imaging system is improved by providing a storage device on or in the medical instrument for storing initialization information, such as the location of the energy-emitting means relative to the instrument body. A transfer device is provided for transferring the initialization information from the storage device to the processor upon connection of the medical instrument to the processor. In this manner, the processor may then configure itself according to the attached instrument so that the system may track the location of the instrument body in three-dimensional space upon detection of the emitted energy.
摘要翻译：本发明提供了一种改进的成像系统和方法。该成像系统具有包括用于发射可检测能量的源的医疗器械和具有工作部分的器械主体的类型。成像系统还包括用于检测能量的检测器和用于基于检测到的能量来确定医疗器械的位置的处理器。通过在医疗器械上或其中提供存储装置来存储初始化信息（诸如能量发射装置相对于仪器主体的位置）来改进这种成像系统。提供传送设备，用于在将医疗仪器连接到处理器时将初始化信息从存储设备传送到处理器。以这种方式，处理器然后可以根据所附接的仪器来配置自身，使得系统可以在检测到发射的能量时跟踪仪器主体在三维空间中的位置。

3. 再颁专利

USRE39102E1 Optical fiber probe for position measurement 有权
标题翻译：用于位置测量的光纤探头
公开(公告)号：USRE39102E1
公开(公告)日：2006-05-23
申请号：US09640794
申请日：2000-08-18
申请人： Waldean A. Schulz , Ivan Faul , Ronald M. Pasquini , Daniel J. Harrison
发明人： Waldean A. Schulz , Ivan Faul , Ronald M. Pasquini , Daniel J. Harrison
IPC分类号： G01B11/26 , A61B19/00
CPC分类号： G01B11/002 , A61B90/36 , G01S1/70 , G01S5/16
摘要： Improved point source electromagnetic radiation emitters including a dispersing element that radiates electromagnetic radiation over a vary wide conical angle of approaching about 180°. This light dispersing element can be in any one or more of several illustrated forms such as a light diffusing spherical or hemispherical element, a planar diffusing plate, a tapered light guide, a piano-concave lens, a convex mirror, a light pipe with a large numerical aperture, or the like. The emitter of this invention may be fixed to an object and tracked in a 3-dimensional volume by a system using electro-optical position sensors in order to determine the spatial location of the emitters and therefore to determine, by geometry, the position or orientation of the object. The electromagnetic radiation generator is preferably disposed remote from the emitter and is electrically and magnetically isolated from the emitter. A common optical fiber provides transmission of the radiation from the generator to the emitter. The emitted radiation more nearly resembles point source of radiation and therefore enables more accurate determination of the location of the radiating element, and thereby more accurate determination of the position and orientation of the object on which the emitters reside. The preferred electromagnetic radiation generator is an LED, most preferably a laser diode.
摘要翻译：改进的点源电磁辐射发射器包括分散元件，其在接近约180°的变化的宽锥角上辐射电磁辐射。该光分散元件可以是几种所示形式的任何一种或多种，例如光漫射球形或半球形元件，平面扩散板，锥形光导，钢琴凹透镜，凸面镜，具有大数值孔径等。本发明的发射器可以通过使用电光位置传感器的系统固定在物体上并以三维体积跟踪，以便确定发射器的空间位置，并且因此通过几何形状确定位置或取向的对象。电磁辐射发生器优选地远离发射器设置并且与发射极电气和磁性隔离。普通光纤提供从发生器到发射器的辐射传输。发射的辐射更接近于类似于辐射源点，因此能够更准确地确定辐射元件的位置，从而更准确地确定放射器所在的物体的位置和方向。优选的电磁辐射发生器是LED，最优选的是激光二极管。

4. 发明授权

US5622170A Apparatus for determining the position and orientation of an invasive portion of a probe inside a three-dimensional body 失效
标题翻译：用于确定探针在三维体内的侵入部分的位置和取向的装置
公开(公告)号：US5622170A
公开(公告)日：1997-04-22
申请号：US317805
申请日：1994-10-04
申请人： Waldean A. Schulz
发明人： Waldean A. Schulz
IPC分类号： G01B11/00 , A61B5/00 , A61B5/055 , A61B5/06 , A61B5/107 , A61B6/00 , A61B6/03 , A61B6/12 , A61B8/00 , A61B8/14 , A61B10/00 , A61B17/88 , A61B19/00 , G01B11/26 , G01C20060101 , G01S20060101 , G02B20060101 , G06T1/00 , G08G20060101 , A61B17/00
CPC分类号： A61B5/0073 , A61B34/20 , A61B5/0064 , A61B5/06 , A61B5/1077 , A61B6/12 , A61B6/501 , A61B6/5235 , A61B8/00 , A61B8/5238 , A61B90/10 , A61B90/36 , A61B17/7074 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2090/363 , A61B2090/364 , A61B2090/3929 , A61B2090/3945 , A61B2090/3954 , A61B2090/3979 , A61B2090/3983 , A61B5/055 , A61B90/14 , A61B90/39
摘要： System for sensing at least two points on an object for determining the position and orientation of the object relative to another object. Two light emitters mounted in spaced relation to each other on an external portion of an invasive probe remaining outside an object into which an invasive tip is inserted are sequentially strobed to emit light. Three light sensors or detectors, the positions of which are known with respect to a predetermined coordinate system, detect the positions of the two light emitters positioned on the probe. A computer connected to the probe and to the light sensors receives data from the sensors and determines the position and orientation of the probe relative to the predetermined coordinate system. The computer then determines the position and orientation of the invasive portion of the probe inside the object by correlating the position of the invasive portion of the probe relative to the predetermined coordinate system with the position of a model of the object defined in relation to the predetermined coordinate system. A display device connected to the computer indicates the location of the invasive portion of the probe in the object by displaying a representation of the location of the invasive portion of the probe with respect to the model of the object.
摘要翻译：用于感测物体上的至少两个点的系统，用于确定物体相对于另一物体的位置和方向。顺序地选通两个发光体，这两个光发射器在入侵入射头所在的物体外部的侵入式探头的外部部分彼此隔开地安装，以发光。三个光传感器或检测器，其位置相对于预定的坐标系是已知的，检测位于探头上的两个发光体的位置。连接到探头和光传感器的计算机接收来自传感器的数据，并确定探头相对于预定坐标系的位置和方位。然后，计算机通过将探针的入侵部分相对于预定坐标系的位置与相对于预定的坐标系定义的对象的模型的位置相关联来确定探测器内的探头的位置和方位坐标系。连接到计算机的显示设备通过相对于对象的模型显示探测器的侵入部分的位置的表示来指示探测器的入侵部分在物体中的位置。

5. 发明授权

US6094007A Optical tracking system 失效
标题翻译：光学跟踪系统
公开(公告)号：US6094007A
公开(公告)日：2000-07-25
申请号：US118271
申请日：1998-07-17
申请人： Ivan Faul , Russell Dahl , Ronald M. Pasquini
发明人： Ivan Faul , Russell Dahl , Ronald M. Pasquini
IPC分类号： A61B19/00 , H01L33/48 , H01S63/04
CPC分类号： A61B90/36 , A61B90/39 , A61B2090/3975 , H01L2924/0002 , H01L33/483
摘要： An assembly adapted to emit electromagnetic radiation made up of an emitter of electromagnetic radiation; a non-reflective ceramic support for the emitter; a substantially transparent crown mounted on the support to define and enclose a space that houses the emitter; and leads attached to the emitter through the support. The combination of the non-reflective support and the transparent crown, and the location of the emitter in the enclosed space enables the emitter to emit electromagnetic radiation in a conical radiation pattern. The radiation pattern appears to have a centroid. This centroid appears to be in a more constant spatial position regardless of the viewing angle as compared with the apparent position of this centroid with other assemblies.
摘要翻译：适于发射由电磁辐射发射器组成的电磁辐射的组件; 用于发射器的非反射陶瓷支架; 安装在支撑件上的基本上透明的表冠，以限定和封闭容纳发射器的空间; 并且通过支撑件连接到发射器的引线。非反射支撑和透明表冠的组合以及发射器在封闭空间中的位置使得发射体能够以锥形辐射图形发射电磁辐射。辐射图似乎具有质心。与其他组件的该质心的表观位置相比，该质心似乎处于更恒定的空间位置，而与视角无关。

6. 发明授权

US5987349A Method for determining the position and orientation of two moveable objects in three-dimensional space 失效
标题翻译：用于确定三维空间中两个可移动物体的位置和方向的方法
公开(公告)号：US5987349A
公开(公告)日：1999-11-16
申请号：US844365
申请日：1997-04-18
申请人： Waldean A. Schulz
发明人： Waldean A. Schulz
IPC分类号： G01B11/00 , A61B5/00 , A61B5/055 , A61B5/06 , A61B5/107 , A61B6/00 , A61B6/03 , A61B6/12 , A61B8/00 , A61B8/14 , A61B10/00 , A61B17/88 , A61B19/00 , G01B11/26 , G01C20060101 , G01S20060101 , G02B20060101 , G06T1/00 , G08G20060101
CPC分类号： A61B5/0073 , A61B34/20 , A61B5/0064 , A61B5/06 , A61B5/1077 , A61B6/12 , A61B6/501 , A61B6/5235 , A61B8/00 , A61B8/5238 , A61B90/10 , A61B90/36 , A61B17/7074 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2090/363 , A61B2090/364 , A61B2090/3929 , A61B2090/3945 , A61B2090/3954 , A61B2090/3979 , A61B2090/3983 , A61B5/055 , A61B90/14 , A61B90/39
摘要： System for sensing at least two points on an object for determining the position and orientation of the object relative to another object. Two light emitters mounted in spaced relation to each other on an external portion of an invasive probe remaining outside an object into which an invasive tip is inserted are sequentially strobed to emit light. Three light sensors or detectors, the positions of which are known with respect to a predetermined coordinate system, detect the positions of the two light emitters positioned on the probe. A computer connected to the probe and to the light sensors receives data from the sensors and determines the position and orientation of the probe relative to the predetermined coordinate system. The computer then determines the position and orientation of the invasive portion of the probe inside the object by correlating the position of the invasive portion of the probe relative to the predetermined coordinate system with the position of a model of the object defined in relation to the predetermined coordinate system. A display device connected to the computer indicates the location of the invasive portion of the probe in the object by displaying a representation of the location of the invasive portion of the probe with respect to the model of the object.
摘要翻译：用于感测物体上的至少两个点的系统，用于确定物体相对于另一物体的位置和方向。顺序地选通两个发光体，这两个光发射器在入侵入射头所在的物体外部的侵入式探头的外部部分彼此隔开地安装，以发光。三个光传感器或检测器，其位置相对于预定的坐标系是已知的，检测位于探头上的两个发光体的位置。连接到探头和光传感器的计算机接收来自传感器的数据，并确定探头相对于预定坐标系的位置和方位。然后，计算机通过将探针的入侵部分相对于预定坐标系的位置与相对于预定的坐标系定义的对象的模型的位置相关联来确定探测器内的探头的位置和方位坐标系。连接到计算机的显示设备通过相对于对象的模型显示探测器的侵入部分的位置的表示来指示探测器的入侵部分在物体中的位置。

7. 发明授权

US5920395A System for locating relative positions of objects in three dimensional space 失效
标题翻译：用于在三维空间中定位物体的相对位置的系统
公开(公告)号：US5920395A
公开(公告)日：1999-07-06
申请号：US967890
申请日：1997-11-12
申请人： Waldean A. Schulz
发明人： Waldean A. Schulz
IPC分类号： G01B11/00 , A61B5/00 , A61B5/055 , A61B5/06 , A61B5/107 , A61B6/00 , A61B6/03 , A61B6/12 , A61B8/00 , A61B8/14 , A61B10/00 , A61B17/88 , A61B19/00 , G01B11/26 , G01C20060101 , G01S20060101 , G02B20060101 , G06T1/00 , G08G20060101 , G01B11/14 , A61B17/00
CPC分类号： A61B5/0073 , A61B34/20 , A61B5/0064 , A61B5/06 , A61B5/1077 , A61B6/12 , A61B6/501 , A61B6/5235 , A61B8/00 , A61B8/5238 , A61B90/10 , A61B90/36 , A61B17/7074 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2090/363 , A61B2090/364 , A61B2090/3929 , A61B2090/3945 , A61B2090/3954 , A61B2090/3979 , A61B2090/3983 , A61B5/055 , A61B90/14 , A61B90/39
摘要： Locating and displaying the relative positions of two objects in a three-dimensional space where one object is a three-dimensional object and the second object has at least three collinear points, at least two of which are sensible by a detector. The detector supplies signals providing azimuth and altitude information related to the two sensible points of the second object for locating the position of at least the third point of the second object relative to the first object which may be positioned inside or outside the boundaries of the first object. The first object may have fixed thereto at least three points sensible by the detector for establishing the position and attitude of the first object within the three-dimensional space.
摘要翻译：在三维空间中定位和显示两个物体的相对位置，其中一个物体是三维物体，而第二物体具有至少三个共线点，其中至少两个共同点由探测器感知。检测器提供提供与第二物体的两个敏感点相关的方位角和高度信息的信号，用于定位第二物体的至少第三点相对于第一物体的位置，该第一物体可位于第一物体的边界内部或外部目的。第一物体可以固定有至少三个由检测器感知的点，用于建立第三物体在三维空间内的位置和姿态。

8. 发明授权

US5907395A Optical fiber probe for position measurement 失效
标题翻译：用于位置测量的光纤探头
公开(公告)号：US5907395A
公开(公告)日：1999-05-25
申请号：US870296
申请日：1997-06-06
申请人： Waldean A. Schulz , Ivan Faul , Ronald M. Pasquini , Daniel J. Harrison
发明人： Waldean A. Schulz , Ivan Faul , Ronald M. Pasquini , Daniel J. Harrison
IPC分类号： A61B19/00 , G01B11/00 , G01B11/03 , G01S1/70 , G01S5/16 , G01B11/26
CPC分类号： G01B11/002 , A61B90/36 , G01S1/70 , G01S5/16
摘要： Improved point source electromagnetic radiation emitters including a dispersing element that radiates electromagnetic radiation over a very wide conical angle of approaching about 180.degree.. This light dispersing element can be in any one or more of several illustrated forms such as a light diffusing spherical or hemispherical element, a planar diffusing plate, a tapered light guide, a plano-concave lens, a convex mirror, a light pipe with a large numerical aperture, or the like. The emitter of this invention may be fixed to an object and tracked in a 3-dimensional volume by a system using electro-optical position sensors in order to determine the spatial location of the emitters and therefore to determine, by geometry, the position and orientation of the object. The electromagnetic radiation generator is preferably disposed remote from the emitter and is electrically and magnetically isolated from the emitter. A common optical fiber provides transmission of the radiation from the generator to the emitter. The emitted radiation more nearly resembles point source of radiation and therefore enables more accurate determination of the location of the radiating element, and thereby more accurate determination of the position and orientation of the object on which the emitters reside. The preferred electromagnetic radiation generator is an LED, most preferably a laser diode.
摘要翻译：改进的点源电磁辐射发射器包括在约180°的非常宽的圆锥角上辐射电磁辐射的分散元件。该光分散元件可以是几种所示形式中的任何一种或多种，例如光漫射球形或半球形元件，平面扩散板，锥形光导，平凹透镜，凸面镜，具有大数值孔径等。本发明的发射器可以通过使用电光位置传感器的系统固定在物体上并以三维体积跟踪，以便确定发射器的空间位置，因此通过几何形状来确定位置和取向的对象。电磁辐射发生器优选地远离发射器设置并且与发射极电气和磁性隔离。普通光纤提供从发生器到发射器的辐射传输。发射的辐射更接近于类似于辐射源点，因此能够更准确地确定辐射元件的位置，从而更准确地确定放射器所在的物体的位置和方向。优选的电磁辐射发生器是LED，最优选的是激光二极管。

9. 再颁专利

USRE35816E Method and apparatus for three-dimensional non-contact shape sensing 失效
标题翻译：三维非接触形状检测方法和装置
公开(公告)号：USRE35816E
公开(公告)日：1998-06-02
申请号：US415126
申请日：1995-03-30
申请人： Waldean A. Schulz
发明人： Waldean A. Schulz
IPC分类号： A61B19/00 , G01B11/00 , G01B11/03 , G01B11/24 , G01B11/245 , G01C3/06 , G01S5/16 , G01S7/481 , G01S17/02 , G01S17/46 , G01S17/89 , G01B11/14 , G01C3/08
CPC分类号： G01B11/24 , G01S17/46 , G01S17/89 , G01S7/481 , G01S7/4813 , A61B2034/2055 , A61B2034/2068 , G01S17/023 , G01S5/163 , G01S7/4817
摘要： This method and apparatus optically samples numerous points on the surface of an object to remotely sense its shape utilizing two stages. The first stage employs a moveable non-contact scanner, which in normal operation sweeps a narrow beam of light across the object, illuminating a single point of the object at any given instant in time. The location of that point relative to the scanner is sensed by multiple linear photodetector arrays behind lenses in the scanner. These sense the location by measuring the relative angular parallax of the point. The second stage employs multiple fixed but widely separated photoelectronic sensors, similar to those in the scanner, to detect the locations of several light sources affixed to the scanner, thereby defining the absolute spatial positions and orientations of the scanner. Individual light sources are distinguished by time-multiplexing their on-off states. A coordinate computer calculates the absolute spatial positions where the scanner light beam is incident on the object at a given instant and continuously on a real time basis to generate a computer model of the object.
摘要翻译：该方法和装置利用两个阶段对物体表面上的多个点进行光学取样以远程感测其形状。第一阶段采用可移动的非接触式扫描器，其在正常操作中扫过窄的光束穿过物体，在任何给定的时刻照射物体的单个点。相对于扫描仪的该点的位置由扫描器中的透镜后面的多个线性光电检测器阵列感测。这些通过测量点的相对角视差来感测位置。第二阶段采用与扫描仪中类似的多个固定但广泛分离的光电传感器来检测固定在扫描器上的几个光源的位置，从而限定扫描仪的绝对空间位置和取向。通过对其开关状态进行时间复用来区分各个光源。坐标计算机计算在给定时刻扫描光束入射到物体上的绝对空间位置，并且实时地连续地生成物体的计算机模型。

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