公开(公告)号：US20210186355A1

公开(公告)日：2021-06-24

申请号：US17249408

申请日：2021-03-01

申请人： ELBIT SYSTEMS LTD.

发明人： Rani Ben-Yishai ,  Lior Barak

IPC分类号： A61B5/055 ,  A61B34/10 ,  A61B34/20

摘要： A system for registering a coordinate system associated with a model of an object with a reference-coordinate-system, the object includes at least one marker, the system includes a portable-unit, a tracking-system and a processor. The portable unit includes and display and an optical-detection-assembly for acquiring at least one representation of the marker. The tracking-system tracks the position-and-orientation of the portable-unit in the reference-coordinate-system. The processor is configured to determine position-related-information respective of the marker in the reference-coordinate-system, to register the model with the reference-coordinate-system at least based on the position-related-information respective of the marker, and on a location of the marker in a coordinate system associated with the model, and to display registration-related-information on the display, at least one of the registration-related-information and the display location of the registration-related-information is related to the position-and-orientation of the portable-unit in the reference-coordinate-system.

公开(公告)号：US10022065B2

公开(公告)日：2018-07-17

申请号：US15531685

申请日：2015-11-29

申请人： ELBIT SYSTEMS LTD.

发明人： Rani Ben-Yishai ,  Lior Barak

IPC分类号： A61B5/055 ,  A61B34/20 ,  A61B34/10

摘要： System for registering a coordinate system associated with a pre-acquired model of an object with a reference coordinate system. The system includes a portable unit which includes a display, a tracking system for tracking the portable unit and a processor. The processor is coupled with the portable unit and with the tracking system. The processor determines the position and orientation of the portable unit. The processor further determines the position of at least one marker located on the object according to at least one of, a tracked pointer and respective position related information. The processor further displays registration related information on the display. At least one of the registration related information and the display location of the registration related information are related to the position and orientation of the portable unit. The position of the at least one marker, in the coordinate system associated with the pre-acquired model, is predetermined.

公开(公告)号：US10932689B2

公开(公告)日：2021-03-02

申请号：US16036629

申请日：2018-07-16

申请人： ELBIT SYSTEMS LTD.

发明人： Rani Ben-Yishai ,  Lior Barak

IPC分类号： A61B5/00 ,  A61B5/055 ,  A61B34/10 ,  A61B34/20

摘要： System for registering a coordinate system associated with a pre-acquired model of an object with a reference coordinate system. The system includes a portable unit which includes a display, a tracking system for tracking the portable unit and a processor. The processor is coupled with the portable unit and with the tracking system. The processor determines the position and orientation of the portable unit. The processor further determines the position of at least one marker located on the object according to at least one of, a tracked pointer and respective position related information. The processor further displays registration related information on the display. At least one of the registration related information and the display location of the registration related information are related to the position and orientation of the portable unit. The position of the at least one marker, in the coordinate system associated with the pre-acquired model, is predetermined.

公开(公告)号：US20180317803A1

公开(公告)日：2018-11-08

申请号：US16036629

申请日：2018-07-16

申请人： ELBIT SYSTEMS LTD.

发明人： Rani Ben-Yishai ,  Lior Barak

IPC分类号： A61B5/055 ,  A61B34/20 ,  A61B34/10

CPC分类号： A61B5/055 ,  A61B34/10 ,  A61B34/20 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055

摘要： System for registering a coordinate system associated with a pre-acquired model of an object with a reference coordinate system. The system includes a portable unit which includes a display, a tracking system for tracking the portable unit and a processor. The processor is coupled with the portable unit and with the tracking system. The processor determines the position and orientation of the portable unit. The processor further determines the position of at least one marker located on the object according to at least one of, a tracked pointer and respective position related information. The processor further displays registration related information on the display. At least one of the registration related information and the display location of the registration related information are related to the position and orientation of the portable unit. The position of the at least one marker, in the coordinate system associated with the pre-acquired model, is predetermined.

公开(公告)号：US20170354342A1

公开(公告)日：2017-12-14

申请号：US15531685

申请日：2015-11-29

申请人： ELBIT SYSTEMS LTD.

发明人： Rani Ben-Yishai ,  Lior Barak

IPC分类号： A61B5/055 ,  A61B34/10 ,  A61B34/20

CPC分类号： A61B5/055 ,  A61B34/10 ,  A61B34/20 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055

摘要： System for registering a coordinate system associated with a pre-acquired model of an object with a reference coordinate system. The system includes a portable unit which includes a display, a tracking system for tracking the portable unit and a processor. The processor is coupled with the portable unit and with the tracking system. The processor determines the position and orientation of the portable unit. The processor further determines the position of at least one marker located on the object according to at least one of, a tracked pointer and respective position related information. The processor further displays registration related information on the display. At least one of the registration related information and the display location of the registration related information are related to the position and orientation of the portable unit. The position of the at least one marker, in the coordinate system associated with the pre-acquired model, is predetermined.

公开(公告)号：US09618621B2

公开(公告)日：2017-04-11

申请号：US14547542

申请日：2014-11-19

申请人： Elbit Systems Ltd.

发明人： Lior Barak ,  Ron Kornblit ,  Rani Ben-Yishai

IPC分类号： G01S17/66 ,  G01S17/02

CPC分类号： G01S17/66 ,  A61B34/20 ,  A61B2034/2055 ,  G01S5/163 ,  G01S17/023 ,  G01S17/875

摘要： An optical tracker is provided herein. The tracker may include at least two optical tracker sensors, facing at least partially each other. Each optical tracker sensor may include: a pixel array sensor configured to generate a pixel-by-pixel stream of values representing a scene; at least one visual indicator physically coupled to said pixel array sensor; and an integrated circuit (IC) physically coupled to said at least one pixel array sensor, and configured to: receive said pixel-by-pixel stream of values; and apply a binary large object (BLOB) analysis to said stream, to yield BLOB parameters indicative of the at least one visual indicator present in the scene in a single pass of the pixels representing the scene; and a computer processor configured to receive said BLOB parameters and calculate a relative position and/or orientation, or a partial data thereof, of the at least two optical tracker sensors.