Abstract: Disclosed is a wireless instrument tracking system. The wireless instrument tracking system is used for determining the location of at least one point relative to the instrument in a three-dimensional space relative to a three-dimensional coordinate tracking system. Advantageously, a first wireless instrument can be placed into the optical field with the wireless instrument including a wireless receiver and at least one optical position indicator. The optical position indicator is typically light emitting diodes (18) and communicates with corresponding measurement sensors (30) across a wireless optical link. The wireless optical link is time multiplexed with repetitive time frames divided into time slots. Each LED (18) emits an infrared signal or flashes in a respective time slot of a time frame. The measurement sensors (30) are preferably CCD cameras.

Abstract: A system for calibrating an error between the location of a feature of an object as determined by indirect calculation compared to as determined by physical measurement in order to be able to use this determined error to correct the location of the feature as determined by calculation in actual use in the field. This error is found by calculating the position and orientation of the object, having energy emitters disposed thereon, in a plurality of orientations and positions relative to a reference frame, but with the feature in a substantially constant position relative to the reference frame; calculating the locations of the feature of the object from these calculated positions and orientations; averaging these calculated locations; determining the location of the feature by physical measurement thereof in relation to the physical locations of the emitters; and comparing the calculated average location with the physically measured loacation to arrive at the error.

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.

Abstract: An optical improvement for angular position sensors, which may be used to determine the spatial coordinates of a small source of light (or other energy) in a 3-dimensional volume. Such sensors normally include a linear photosensitive image detector such as a photodiode array or a charge-coupled device (CCD). An irregular pattern of parallel slits is described which increases the amount of light gathered while avoiding the undesirable characteristics of lens optics for this application. One optimal type of irregular pattern is the uniformly redundant array. A mathematical correlation function together with a polynomial interpolation function can determine the displacement of the image on the detector and thereby the location of the source relative to one angular dimension. Given the locations and orientations of several sensors in a 3-dimensional coordinate system and given the angles measured by each, the location of the point source can be computed.

Abstract: An assembly adapted to emit electromagnetic radiation made up of an emitter of electromagnetic radiation; a non-reflective ceramic support for the emitter; a substantially transparent crown mounted on the support to define and enclose a space that houses the emitter; and leads attached to the emitter through the support. The combination of the non-reflective support and the transparent crown, and the location of the emitter in the enclosed space enables the emitter to emit electromagnetic radiation in a conical radiation pattern. The radiation pattern appears to have a centroid. This centroid appears to be in a more constant spatial position regardless of the viewing angle as compared with the apparent position of this centroid with other assemblies.

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.

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: Improved point source electromagnetic radiation emitters including a dispersing element that radiates electromagnetic radiation over a very wide conical angle of approaching about 180.degree.. 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 plano-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 and 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.

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.

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: 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.

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.