公开(公告)号：US07865236B2

公开(公告)日：2011-01-04

申请号：US11252568

申请日：2005-10-19

Applicant: Phillip C. Cory ,  Joan M. Cory ,  Waldean A. Schulz

Inventor： Phillip C. Cory ,  Joan M. Cory ,  Waldean A. Schulz

IPC: A61B5/053

CPC classification number: A61B5/4893 ,  A61B5/0536 ,  A61B5/4041 ,  A61B5/4519 ,  A61B2562/0209 ,  A61B2562/046

Abstract: Systems and methods for discriminating and locating tissues within a body involve applying a waveform signal to tissue between two electrodes and measuring the electrical characteristics of the signal transmitted through the tissue. At least one of the electrodes is constrained in area so that localized electrical characteristics of the tissue are measured. Such localized electrical characteristics are determined over a portion of a body of the subject by using an array of electrodes or electrodes that can be moved over the body. A controller may implement the process and perform calculations on the measured data to identify tissue types and locations within the measured area, and to present results in graphical form. Results may be combined with other tissue imaging technologies and with image-guided systems.

Abstract translation: 用于区分和定位身体内的组织的系统和方法包括将波形信号施加到两个电极之间的组织并测量透过组织的信号的电特性。 电极中的至少一个被限制在区域中，使得测量组织的局部电特性。 通过使用能够在身体上移动的电极阵列或电极来确定这种局部电特性，使其在身体的一部分上被确定。 控制器可以实施该过程并且对所测量的数据执行计算以识别测量区域内的组织类型和位置，并以图形形式呈现结果。 结果可能与其他组织成像技术和图像引导系统相结合。

公开(公告)号：US20110082383A1

公开(公告)日：2011-04-07

申请号：US12962382

申请日：2010-12-07

Applicant: Philip C. Cory ,  Joan M. Cory ,  Waldean A. Schulz ,  Daniel A. Kramer ,  Paul L. Ray

Inventor： Philip C. Cory ,  Joan M. Cory ,  Waldean A. Schulz ,  Daniel A. Kramer ,  Paul L. Ray

IPC: A61B5/053

CPC classification number: A61B5/4893 ,  A61B5/0536 ,  A61B5/4041 ,  A61B5/4519

Abstract: Systems and methods for discriminating and locating tissues within a body involve applying a waveform signal to tissue between two electrodes and measuring the electrical characteristics of the signal transmitted through the tissue. At least one of the electrodes is constrained in area so that localized electrical characteristics of the tissue are measured. Such localized electrical characteristics are determined over a portion of a body of the subject by using an array of electrodes or electrodes that can be moved over the body. A controller may implement the process and perform calculations on the measured data to identify tissue types and locations within the measured area, and to present results in graphical form. Results may be combined with other tissue imaging technologies and with image-guided systems.

Abstract translation: 用于区分和定位身体内的组织的系统和方法包括将波形信号施加到两个电极之间的组织并测量透过组织的信号的电特性。 电极中的至少一个被限制在区域中，使得测量组织的局部电特性。 通过使用能够在身体上移动的电极阵列或电极来确定这种局部电特性，使其在身体的一部分上被确定。 控制器可以实施该过程并且对所测量的数据执行计算以识别测量区域内的组织类型和位置，并以图形形式呈现结果。 结果可能与其他组织成像技术和图像引导系统相结合。

公开(公告)号：US20090324009A1

公开(公告)日：2009-12-31

申请号：US12163353

申请日：2008-06-27

Applicant: Waldean A. Schulz

Inventor： Waldean A. Schulz

IPC: G06K9/78

CPC classification number: G06T7/13 ,  G06T7/73 ,  G06T2207/10021 ,  G06T2207/30204

Abstract: A method or a system embodiment determines positional information about a moveable object to which is affixed a pattern of stripes having reference lines. A method determines image lines of stripe images of each stripe within at least two video frames, uses the image lines to prescribe planes having lines of intersection, and determines a transformation mapping reference lines to lines of intersection. Position information about the object may be derived from the transformation. A system embodiment comprises a pattern of stripes in a known fixed relationship to an object, reference lines characterizing the stripes, two or more cameras at known locations, a digital computer adapted to receive video frames from the pixel arrays of the cameras, and a program stored in the computer's memory. The program performs some or all of the method. When there are two or more moveable objects, an embodiment may further determine the position information about a first object to be transformed to a local coordinate system fixed with respect to a second object.

Abstract translation: 方法或系统实施例确定关于固定具有参考线的条纹图案的可移动对象的位置信息。 一种方法确定至少两个视频帧内的每个条带的条纹图像的图像行，使用图像线来规定具有交叉线的平面，并且确定到交叉线的变换映射参考线。 关于对象的位置信息可以从变换中导出。 系统实施例包括与对象的已知固定关系的条纹图案，表征条纹的参考线，已知位置处的两个或更多个相机，适于从相机的像素阵列接收视频帧的数字计算机，以及程序 存储在计算机的内存中。 程序执行部分或全部方法。 当存在两个或多个可移动对象时，实施例可以进一步确定关于要被变换到相对于第二对象固定的局部坐标系的第一对象的位置信息。

公开(公告)号：USRE39102E1

公开(公告)日：2006-05-23

申请号：US09640794

申请日：2000-08-18

Applicant: Waldean A. Schulz ,  Ivan Faul ,  Ronald M. Pasquini ,  Daniel J. Harrison

Inventor： Waldean A. Schulz ,  Ivan Faul ,  Ronald M. Pasquini ,  Daniel J. Harrison

IPC: G01B11/26 ,  A61B19/00

CPC classification number: G01B11/002 ,  A61B90/36 ,  G01S1/70 ,  G01S5/16

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US5622170A

公开(公告)日：1997-04-22

申请号：US317805

申请日：1994-10-04

Applicant: Waldean A. Schulz

Inventor： Waldean A. Schulz

IPC: 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 classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US07623250B2

公开(公告)日：2009-11-24

申请号：US11050920

申请日：2005-02-04

Applicant: José Luis Moctezuma de la Barrera ,  Waldean A. Schulz ,  Donald W. Malackowski

Inventor： José Luis Moctezuma de la Barrera ,  Waldean A. Schulz ,  Donald W. Malackowski

IPC: G01B11/14 ,  A61B5/00 ,  G06K9/00 ,  G06F19/00

CPC classification number: G01B11/245 ,  G01S5/163

Abstract: The shape and orientation of rigid or nearly rigid moveable bodies are determined using a shape characterization. Sensors capture a plurality of representations of different perspectives of the body that are analyzed to determine a bounding volume of the body. The shape of the body is determined from the bounding volume. The position of the body is determined using tracking devices that sense the position of the body. The bounding volume and position information are combined to define the shape and orientation in space of the body, and in particular the position of a point of interest on the body.

Abstract translation: 使用形状表征确定刚性或几乎刚性的可移动体的形状和取向。 传感器捕获被分析的身体的不同透视图的多个表示以确定身体的界限体积。 身体的形状由界限体积确定。 使用感测身体位置的跟踪装置确定身体的位置。 结合体积和位置信息被组合以限定身体​​的空间中的形状和取向，特别是身体上的兴趣点的位置。

公开(公告)号：US5617857A

公开(公告)日：1997-04-08

申请号：US471279

申请日：1995-06-06

Applicant: Martin D. Chader ,  Ivan Faul ,  Timothy L. Feaver ,  Waldean A. Schulz

Inventor： Martin D. Chader ,  Ivan Faul ,  Timothy L. Feaver ,  Waldean A. Schulz

IPC: A61B5/06 ,  A61B17/00 ,  A61B19/00 ,  A61B5/00

CPC classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US5198877A

公开(公告)日：1993-03-30

申请号：US597505

申请日：1990-10-15

Applicant: Waldean A. Schulz

Inventor： Waldean A. Schulz

IPC: A61B19/00 ,  G01B11/00 ,  G01B11/03 ,  G01B11/24 ,  G01B11/245 ,  G01C3/06 ,  G01S5/16 ,  G01S7/481 ,  G01S17/02 ,  G01S17/46 ,  G01S17/89

CPC classification number: G01B11/24 ,  G01S17/46 ,  G01S17/89 ,  G01S7/481 ,  G01S7/4813 ,  A61B2034/2055 ,  A61B2034/2068 ,  G01S17/023 ,  G01S5/163 ,  G01S7/4817

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US5987349A

公开(公告)日：1999-11-16

申请号：US844365

申请日：1997-04-18

Applicant: Waldean A. Schulz

Inventor： Waldean A. Schulz

IPC: 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 classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US5920395A

公开(公告)日：1999-07-06

申请号：US967890

申请日：1997-11-12

Applicant: Waldean A. Schulz

Inventor： Waldean A. Schulz

IPC: 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 classification number: 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

Abstract: 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.

Abstract translation: 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。