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Method for determining the position and orientation of two moveable objects in three-dimensional space    
United States Patent5987349   
Link to this pagehttp://www.wikipatents.com/5987349.html
Inventor(s)Schulz; Waldean A. (Boulder, CO)
AbstractSystem 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.



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Patent Text Patent PDF Print Page Summary File History
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Inventor     Schulz; Waldean A. (Boulder, CO)
Owner/Assignee     Image Guided Technologies, Inc. (Boulder, CO)
Patent assignment
All assignments
Publication Date     November 16, 1999
Application Number     08/844,365
PAIR File History     Application Data   Transaction History
Image File Wrapper   Patent Term   Fees
Litigation
Filing Date     April 18, 1997
US Classification     600/427 356/141.1 356/614 600/429 606/130
Int'l Classification     A61B 006/00
Examiner     Smith; Ruth S.
Assistant Examiner    
Attorney/Law Firm     Lowe Hauptman Gopstein Gilman & Berner
Address
Parent Case     This is a divisional of application Ser. No. 08/317,805, filed Oct. 04, 1994, now U.S. Pat. No. 5,622,170 which is a continuation of application Ser. No. 08/052,042, filed Apr. 22, 1993, now abandoned which is a continuation-in-part of application Ser. No. 07/909,097, filed Jul. 02, 1992, now U.S. Pat. No. 5,383,454 which is a continuation-in-part of application Ser. No. 07/600,753, filed Oct. 19, 1990, now abandoned.
Priority Data    
USPTO Field of Search     600/425 600/427 600/429 600/407 606/130 356/141.1 356/2 356/3 356/4 356/5 356/6 356/7 356/8 356/9 356/10 356/11 356/12 356/13 356/14 356/15 356/16 356/17 356/18 356/19 356/20 356/21 356/22 356/23 356/24 356/25 356/26 356/27 356/28 356/29 356/30 356/31 356/32 356/33 356/34 356/35 356/36 356/37 356/38 356/39 356/40 356/41 356/42 356/43 356/44 356/45 356/46 356/47 356/48 356/49 356/50 356/51 356/52 356/53 356/54 356/55 356/56 356/57 356/58 356/59 356/60 356/61 356/62 356/63 356/64 356/65 356/66 356/67 356/68 356/69 356/70 356/71 356/72 356/73 356/74 356/75 356/76 356/77 356/78 356/79 356/80 356/81 356/82 356/83 356/84 356/85 356/86 356/87 356/88 356/89 356/90 356/91 356/92 356/93 356/94 356/95 356/96 356/97 356/98 356/99 356/100 356/101 356/102 356/103 356/104 356/105 356/106 356/107 356/108 356/109 356/110 356/111 356/112 356/113 356/114 356/115 356/116 356/117 356/118 356/119 356/120 356/121 356/122 356/123 356/124 356/125 356/126 356/127 356/128 356/129 356/130 356/131 356/132 356/133 356/134 356/135 356/136 356/137 356/138 356/139 356/140 356/141.3 356/375
Patent Tags     determining position orientation two moveable objects three-dimensional space
   
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