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公开(公告)号：US5805287A
公开(公告)日：1998-09-08
申请号：US769800
申请日：1996-12-17
CPC分类号： G01C11/06 , G01B11/245 , G01S5/163 , G01S11/12
摘要： A method and system for determining the position and/or orientation of a number of objects relative to each other. At least two cameras having electro-optical sensors are provided. A network of help reference points is established. The positions of some points in the network relative to each other can be known or they are determined using at least one of the cameras positioned in multiple arbitrary locations. The positions of some of the objects relative to each other, are determined based on the determined positions of some of the points in the network. The position of at least one of the objects is determined by holding a probing tool in contact with a point on the object, and obtaining measurement data from the probing tool using at least two of the cameras.
摘要翻译： 一种用于确定多个对象相对于彼此的位置和/或取向的方法和系统。 提供至少两个具有电光传感器的相机。 建立了一个帮助参考点网络。 网络中某些点相对于彼此的位置可以是已知的，或者它们使用位于多个任意位置的摄像机中的至少一个来确定。 一些对象相对于彼此的位置是基于确定的网络中某些点的位置来确定的。 通过使探测工具与物体上的点保持接触来确定至少一个物体的位置，并使用至少两个照相机从探测工具获得测量数据。
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公开(公告)号：US10441360B2
公开(公告)日：2019-10-15
申请号：US14710869
申请日：2015-05-13
申请人： METRONOR AS
发明人： Oyvind Rotvold
摘要： A system for precision guidance of surgical procedures on a patient is disclosed. Aspects of the system may include: a three-dimensional digital representation of a pre-procedural geometry of a relevant part of the patient, a three-dimensional digital representation of an intended post-procedural geometry of the relevant part of the patient including any implant or other structures intended to be attached to the patient, and a movable electro-optical (EO) camera mounted in a known position and orientation relative to a surgeon, such as a head mount. Further aspects of the system may include a first carrier comprising at least 3 targets to be observed by the EO camera, wherein the first carrier may be mounted in a known first position and first orientation relative to the relevant part of the patient, and a second carrier comprising at least 3 targets to be observed by the EO camera, wherein the second carrier may be mounted in a known second position and second orientation relative to an implant or surgical instrument. Embodiments of the system may include a computer for calculating, based on observations from the EO camera, relative positions of the first and second carriers and of the EO camera. Embodiments of the system may also include software, residing on the computer, configured to calculate a relevant projection of a digital representation of the patient to be displayed in order for the displayed projection to match with the surgeon's current physical view of the patient.
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公开(公告)号：US20150327946A1
公开(公告)日：2015-11-19
申请号：US14710869
申请日：2015-05-13
申请人： METRONOR AS
发明人： OYVIND ROTVOLD
IPC分类号： A61B19/00
CPC分类号： A61B34/10 , A61B34/20 , A61B2034/105 , A61B2034/2055 , A61B2034/2057 , A61B2090/364 , A61B2090/368 , A61B2090/502
摘要： A system for precision guidance of surgical procedures on a patient is disclosed. Aspects of the system may include: a three-dimensional digital representation of a pre-procedural geometry of a relevant part of the patient, a three-dimensional digital representation of an intended post-procedural geometry of the relevant part of the patient including any implant or other structures intended to be attached to the patient, and a movable electro-optical (EO) camera mounted in a known position and orientation relative to a surgeon, such as a head mount. Further aspects of the system may include a first carrier comprising at least 3 targets to be observed by the EO camera, wherein the first carrier may be mounted in a known first position and first orientation relative to the relevant part of the patient, and a second carrier comprising at least 3 targets to be observed by the EO camera, wherein the second carrier may be mounted in a known second position and second orientation relative to an implant or surgical instrument. Embodiments of the system may include a computer for calculating, based on observations from the EO camera, relative positions of the first and second carriers and of the EO camera. Embodiments of the system may also include software, residing on the computer, configured to calculate a relevant projection of a digital representation of the patient to be displayed in order for the displayed projection to match with the surgeon's current physical view of the patient.
摘要翻译： 公开了一种用于对患者进行外科手术的精确引导的系统。 系统的方面可以包括：患者的相关部分的手术前几何的三维数字表示，患者的相关部分的预期的手术后几何形状的三维数字表示，包括任何植入物 或旨在附接到患者的其它结构以及相对于诸如头部安装件的外科医生以已知的位置和取向安装的可移动电光（EO）照相机。 该系统的其它方面可以包括第一载体，其包括由EO照相机观察的至少3个靶，其中第一载体可以相对于患者的相关部分安装在已知的第一位置和第一取向中， 载体，其包括由EO照相机观察的至少3个靶，其中所述第二载体可以相对于植入物或外科器械安装在已知的第二位置和第二取向中。 系统的实施例可以包括计算机，用于基于来自EO相机的观察值来计算第一和第二载体和EO相机的相对位置。 系统的实施例还可以包括驻留在计算机上的软件，其被配置为计算要显示的患者的数字表示的相关投影，以使所显示的投影与外科医生的患者的当前物理视图相匹配。
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公开(公告)号：US5440392A
公开(公告)日：1995-08-08
申请号：US211734
申请日：1994-04-11
申请人： Alf Pettersen , Oyvind Rotvold
发明人： Alf Pettersen , Oyvind Rotvold
CPC分类号： G01S5/16 , G01B11/00 , G01B11/002 , G01C15/00
摘要： A system for point by point measurement of spatial coordinates, in which a touch probe including three point-sized light sources at known local coordinates relative to a local probe fixed coordinate system and with a touch point at known location relative to the local coordinate system, is used such that the touch probe touches the point to be measured. A single opto-electronic angle sensor for measurement of spatial direction towards point sized light sources is set up such that its field of view/work area covers the essential parts of the object to be measured, and such that the light sources of the touch probe are seen from the angle sensor for all the relevant measurement points. The spatial directions for all of the light sources of the touch probe are registered simultaneously. Based on the registered spatial directions, the position and orientation of the touch probe are calculated relative to said single angle sensor, and such that the position of the touch probe is related to its point of contact with the measured object.
摘要翻译： PCT No.PCT / NO92 / 00167 Sec。 371日期1994年04月11日 102（e）日期1994年4月11日PCT提交1992年10月9日PCT公布。 公开号WO93 / 07443 日期：1993年04月15日。一种用于点对点测量空间坐标的系统，其中包括在已知局部坐标处相对于局部探针固定坐标系并且在已知位置处具有触摸点的三个点尺寸光源的探测器 相对于局部坐标系，使用触摸探针接触要测量的点。 设置用于测量朝向点尺寸的光源的空间方向的单个光电角度传感器，使得其视野/工作区域覆盖被测量物体的主要部分，并且使得探针的光源 从角度传感器可以看到所有相关的测量点。 触摸探头的所有光源的空间方向同时登记。 基于注册的空间方向，相对于所述单个角度传感器计算触摸探针的位置和方向，并且使得探针的位置与其与测量对象的接触点相关。
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公开(公告)号：US20170241745A1
公开(公告)日：2017-08-24
申请号：US15282368
申请日：2016-09-30
申请人： Metronor AS
发明人： Oyvind Rotvold
摘要： A weapon platform for accurately locating and/or tracking enemy targets is described. The weapon platform may include an electro-optical sensor unit comprising one or more sensors, an electro-optical camera, and a plurality of local targets located within the weapon system. The camera may observe the local targets and output information regarding the spatial relationship between the sensor unit and a weapon connected to the weapon platform. The local targets may be connected to the weapon, to the weapon platform, and/or to the sensor unit. Using the information regarding the spatial relationship, the weapon may be steered toward enemy targets that are located using the sensor unit.
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公开(公告)号：US08874406B2
公开(公告)日：2014-10-28
申请号：US13088123
申请日：2011-04-15
申请人： Øyvind Røtvold , Knut Åmdal , Harald Suphellen
发明人： Øyvind Røtvold , Knut Åmdal , Harald Suphellen
CPC分类号： G01B11/002 , G01B11/005 , G01B11/245 , G01S5/163 , G06F15/00 , G06F17/40 , G06F19/00 , G06T7/73 , G06T2207/10012 , G06T2207/30164 , G06T2207/30204
摘要： A system for measurement of spatial coordinates and/or orientation of a probe, comprising a first spatial direction sensor associated with a pattern of targets with known positions relative to each other and to the first spatial direction sensor, a second spatial direction sensor, and processing means for the computation of the orientation and/or spatial coordinates of the pattern of targets relative to the second spatial direction sensor based on the known positions of the targets relative to each other and a determination of the spatial directions of the targets with respect to the second spatial direction sensor, wherein at least three of the targets are in the field of view (FOV2) of the second spatial direction sensor irrespective of the orientation of the pattern of targets and wherein the first spatial direction sensor determines the spatial coordinates and/or orientation of the probe.
摘要翻译： 一种用于测量探针的空间坐标和/或取向的系统，包括与相对于彼此具有已知位置的目标图案相关联的第一空间方向传感器和与第一空间方向传感器相关联的第一空间方向传感器，第二空间方向传感器和处理 用于基于目标相对于彼此的已知位置计算目标相对于第二空间方向传感器的图案的取向和/或空间坐标的装置，以及相对于所述目标的空间方向的确定 第二空间方向传感器，其中至少三个目标在第二空间方向传感器的视野（FOV2）中，而与目标图案的取向无关，并且其中第一空间方向传感器确定空间坐标和/或 探头的方位。
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公开(公告)号：US08849607B2
公开(公告)日：2014-09-30
申请号：US13088123
申请日：2011-04-15
申请人： Øyvind Røtvold , Knut Åmdal , Harald Suphellen
发明人： Øyvind Røtvold , Knut Åmdal , Harald Suphellen
摘要： A system for measurement of spatial coordinates and/or orientation of a probe, comprising a first spatial direction sensor associated with a pattern of targets with known positions relative to each other and to the first spatial direction sensor, a second spatial direction sensor, and processing means for the computation of the orientation and/or spatial coordinates of the pattern of targets relative to the second spatial direction sensor based on the known positions of the targets relative to each other and a determination of the spatial directions of the targets with respect to the second spatial direction sensor, wherein at least three of the targets are in the field of view (FOV2) of the second spatial direction sensor irrespective of the orientation of the pattern of targets and wherein the first spatial direction sensor determines the spatial coordinates and/or orientation of the probe.
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公开(公告)号：US20130158386A1
公开(公告)日：2013-06-20
申请号：US13655658
申请日：2012-10-19
申请人： METRONOR AS
发明人： Oyvind Rotvold
CPC分类号： A61N5/1039 , A61B5/055 , A61B6/03 , A61B34/20 , A61B2034/2055 , A61B2090/374 , A61B2090/3762
摘要： A system for ensuring precision in medical treatment of a patient comprising one or more clusters of targets attached to a patient, a strapping mechanism or a carrier defining a patient-fixed coordinate system. The system also includes a first electro-optical measurement system for observing the one or more clusters of targets and local reference markers of an imaging system to determine the relationship between the patient-fixed coordinate system and a coordinate system of the imaging system, whereby a location to be treated inside the patient can be calculated in the patient-fixed coordinate system. The system further includes a second electro-optical measurement system for observing the one or more clusters of targets and local reference markers of a treatment system, whereby the location to be treated inside the patient can be calculated in a coordinate system of a treatment system.
摘要翻译： 一种用于确保患者的医疗治疗精度的系统，包括附接到患者的一个或多个靶组，捆扎机构或限定患者固定坐标系的载体。 该系统还包括用于观察成像系统的一个或多个靶群和局部参考标记的第一电光测量系统，以确定患者固定坐标系和成像系统的坐标系之间的关系，由此 可以在患者固定的坐标系中计算患者内部进行治疗的位置。 该系统还包括用于观察治疗系统的一个或多个靶群和局部参考标记的第二电光测量系统，由此可以在治疗系统的坐标系中计算患者内待治疗的位置。
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