Medical wide field of view optical tracking system

摘要

A medical Wide-Field-Of-View optical-tracking-system for determining the position and orientation of a target-object in a reference coordinate system. The system includes at least three light-emitters, at least one optical-detector and a processor. The processor is coupled with each optical-detector. One optical-detector is a Wide-Field-Of-View optical detector, which acquires an image of the light-emitters within the field-of-view thereof. Each Wide-Field-Of-View optical-detector includes an optical-sensor and two optical-receptors. The processor determines the position and orientation of the target-object in the reference coordinate system according to representations of the light-emitters. Each light-emitter is within the field-of-view of an optical-detector. Each optical-detector and each light-emitter is attached to one of the target-object and a reference-location. The target-object and the reference-location are respective elements in a tuple including two elements from a group consisting of a display, a patient-body-location, a-medical-tool, physician-body-location, and a fixed-position.

主权项

1. A medical Wide Field Of View optical tracking system for determining the position and orientation of a target object in a reference coordinate system comprising:
at least three light emitters; at least one optical detector, at least one of said at least one optical detector being a Wide Field Of View optical detector, said Wide Field Of View optical detector acquiring at least one image of at least one light emitter within the field of view of said Wide Field Of View optical detector, each of said at least one Wide Field Of View optical detector including:
an optical sensor, for sensing light received from said at least one light emitter within the field of view of said Wide Field Of View optical detector; andat least two optical receptors, optically coupled with said optical sensor, each of said optical receptors including an entrance pupil, said optical receptors being spatially spaced apart from each other, each of said optical receptors projecting a different angular section of an observed scene on said optical sensor; a processor, coupled with each of said at least one optical detector, said processor determining the position and orientation of said target object in said reference coordinate system, at least according to representations of said at least three light emitters, wherein, each of said at least three light emitters is within the field of view of at least one of said at least one optical detector, wherein each one of said at least one optical detector and each one of said at least three light emitters is adapted to be attached to a respective one of said target object and a reference location, said reference location being associated with said reference coordinate system, and wherein said target object and said reference location are respective elements in a tuple including two elements from a group consisting of a display, a patient body location, a medical tool, physician body location, and a fixed position.