USRE35816E - Method and apparatus for three-dimensional non-contact shape sensing - Google Patents
Method and apparatus for three-dimensional non-contact shape sensing Download PDFInfo
- Publication number
- USRE35816E USRE35816E US08/415,126 US41512695A USRE35816E US RE35816 E USRE35816 E US RE35816E US 41512695 A US41512695 A US 41512695A US RE35816 E USRE35816 E US RE35816E
- Authority
- US
- United States
- Prior art keywords
- iaddend
- iadd
- relation
- scanner
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Definitions
- This invention relates to optical mensuration devices in general, and in particular to an improved method and apparatus for the optical mensuration of the surface shape of a three-dimensional object.
- mensuration systems exist in the prior art for sensing the locations of surface points on three-dimensional solid objects in relation to a predefined fixed reference frame or coordinate system for input into an application system, such as a computer or other device for measurement or analysis.
- an application system such as a computer or other device for measurement or analysis.
- one type of mensuration system that can be used to determine the location of a single point on the surface of an object includes the use of a narrow projected beam of light to illuminate a tiny area or spot on the surface of the object.
- a lens in the system is positioned on an optical axis oblique to the axis of the projected beam and is used to focus the reflected light from the illuminated spot onto a photoelectric sensor or onto a linear array of sensors.
- the location of the illuminated point with respect to the predetermined reference frame can be determined by computing the distance of the illuminated surface point from the origin of the light beam which, of course, is known. Examples of such point illumination optical mensuration systems are found in the following U.S. Pat. Nos.
- a variant of the above-described systems projects a thin beam of light in a single plane which, of course, is incident as a line, as opposed to a point, on the surface of the object being scanned.
- the intersection of this plane of light with the object's surface thus forms a brightly illuminated contour line.
- a two-dimensional electronic video camera or similar device whose optical axis is not coincident with the axis of the illuminating beam, detects the image of this contour line. Again, since the optical axis of the camera is not coincident with the axis of the illuminating light beam, it views the contour line from an oblique angle, thus allowing location of the contour line to be precisely determined in relation to the known position of the beam projector.
- either the measuring apparatus or the object is panned along (or rotated about) an axis through the object. While these line scanning devices share similar drawbacks with the point scanning devices previously described, they do operate much faster, gathering a larger number of sample points during a given scanning interval. Unfortunately, the accuracy of each surface sample point is limited by the relatively low resolution of the two-dimensional charge coupled device (CCD) sensors found in most video cameras, which is typically in the range of 1 part in 512. Even worse, these systems still suffer the disadvantages of the point scanning systems in that either the scanning head or the object must be relocated or re-oriented to completely and accurately record all of the surface details of an object.
- CCD charge coupled device
- Still other mensuration systems track the positions of specific points in three-dimensional space by using small radiating emitters which move relative to fixed receiving sensors, or vice versa. Such radiation emitters may take the form of sound, light, or nutating magnetic fields.
- Another mensuration system uses a pair of video cameras plus a computer to calculate the position of homologous points in the pair of stereographic video images. See, for example, U.S. Pat. Nos. 4,836,778 and 4,829,373.
- the points tracked by this system may be passive reflectors or active light sources. The latter simplifies finding and distinguishing the points.
- the paper by Fuchs, et al, (1978) describes a basic method of tracking a light source in three-dimensional space.
- the method is based on using three or more one-dimensional sensors, each consisting of a cylindrical lens and a linear array of photodetectors, such as charge coupled devices (CCDs), to determine the location of the currently radiating source.
- CCDs charge coupled devices
- the scanning head of such an improved system should be hand-held to allow the operator to easily move the scanning beam over some of the more complex surface details of the object while dispensing with the need for the expensive, cumbersome, and high precision scanning head positioning apparatus currently required.
- Such a hand-held scanner must also provide the accuracy and precision associated with currently available optical mensuration systems, that is, it must be able to accurately measure and precisely locate the surface details of the object in relation to the predetermined reference frame.
- an object of the present invention to provide an improved, non-contact, three-dimensional optical mensuration system capable of accurately sensing the surface shapes of three-dimensional objects without the numerous drawbacks associated with the prior art systems.
- a still further object of this invention is to provide a portable, hand-held, and hand-maneuverable scanner for the three-dimensional, non-contact shape-scanning and/or mensuration of three-dimensional objects.
- the apparatus for three-dimensional, non-contact shape sensing of this invention may comprise a hand held scanning head with a light source for projecting a scanning light beam over the surface of the object being scanned.
- Two spot detectors mounted on the hand-held scanning head are operative to detect the position of the illuminated spot on the surface of the object in relation to the scanning head.
- a coordinate computer connected to the scanning head and to the pilot light detectors receives data from the spot detectors and calculates the position of the illuminated spot with respect to the scanning head.
- the coordinate computer then calculates the various positions and orientations of the scanning head in relation to the predetermined coordinate system on a real time basis from the data received from the pilot light detectors.
- the coordinate computer calculates the position of the illuminated spot in relation to the predetermined coordinate system by correlating the position of the illuminated spot in relation to the scanning head with the position of the scanning head in relation to the predetermined coordinate system.
- the method of this invention includes the steps of sweeping a scanning beam projected from the hand held scanning head over the surface of the object being scanned to illuminate a spot on the surface of the object, detecting the position of the illuminated spot with respect to the scanning head, detecting the position of the scanning head in relation to a predetermined coordinate system, and computing the position of the illuminated spot in relation to the predetermined coordinate system by correlating the position of the illuminated spot in relation to the scanning head with the position of the scanning head in relation to the predetermined coordinate system.
- FIG. 1 is a block diagram of the optical mensuration apparatus of the present invention showing the major components
- FIG. 2 is a perspective view of the hand held scanning head of the present invention, showing how it can be positioned to direct the scanning beam onto the surface of the object being scanned;
- FIG. 3 is a plan view of the scanning head of the present invention with the top surface broken away to more clearly show the arrangement of the optical projecting apparatus and the spot detectors;
- FIG. 4 is a schematic perspective representation of one of the one-dimensional photodetectors of the present invention.
- FIG. 5 is a schematic block diagram of the optical mensuration apparatus of the present invention showing in detail the functions and operations of the control unit and coordinate computer;
- FIG. 6 is a graph of signal strength vs. location on the detector surface for a typical light detector used by the optical mensuration apparatus of the present invention.
- the optical mensuration apparatus 10 of the present invention is shown schematically in FIG. 1 and comprises a hand-held or moveable scanning head 12 housing light beam projecting apparatus 14 (not shown in FIG. 1, but shown in FIG. 3), two one-dimensional spot sensors or detectors 16, 18, and three pilot light emitters 20, 22, and 24.
- Three remotely located, one-dimensional pilot light sensors 26, 28, and 30 are mounted in fixed, spaced-apart relation to each other and are located at known positions with respect to a predetermined reference coordinate system or frame 80. These three pilot sensors 26, 28, and 30 sense the light projected by the individual pilot light emitters 20, 22, and 24 and generate electrical output signals from which are derived the location of the scanning head 12 with respect to the fixed coordinate system 80.
- a control unit 32 connected to the moveable scanning head 12 via data line 46 and connected to the remotely located sensors 26, 28, and 30 via data lines 48, 50, and 52, respectively, synchronizes the time multiplexing of the three pilot emitters 20, 22, and 24, controls the operation of the beam projecting apparatus 14, and receives data from the two spot sensors 16, 18 on scanning head 12, as will be completely described below.
- a coordinate computer 34 connected to control unit 32 by data line 54 calculates the three-dimensional spatial coordinates of the illuminated spot 36 in relation to the predetermined coordinate reference frame 80, which position information can then be used by an application system 82.
- the light beam projecting apparatus 14 housed in the hand held scanner head 12 directs a narrow beam of light or scanning beam 42 onto the surface 40 of object 38 to illuminate a small portion or spot 36 on the surface 40.
- Reflected light 43 from illuminated spot 36 is detected by the two one-dimensional spot sensors or detectors 16, 18 mounted on scanner head 12. These sensors 16, 18 sense the location of the illuminated spot 36 with respect to the position of the moveable scanner 12 by measuring the relative angular parallax of the reflected light 43 from illuminates spot 36.
- the spatial position and orientation of the moveable scanner head 12 at that same instant are determined by measuring the locations of the three time multiplexed pilot light emitters 20, 22, and 24 relative to the known positions of the pilot light sensors 26, 28, and 30.
- the parallax data from each of the sensors 16, 18, 26, 28, and 30 are ultimately fed to the coordinate computer 34, which determines the position of the illuminated spot 36 with respect to the predetermined reference frame by correlating the position of the illuminated spot 36 in relation to the scanner head 12 with the position of the scanner 12 in relation to the fixed pilot light sensors 26, 28, and 30, which are positioned in relation to the predetermined reference frame 80 at precisely predetermined locations at conveniently spaced distances from each other and from the object 38 and the hand-held scanner 12. If the computer can make these location or position calculations very fast, the operation can be performed over and over again in sequence as the scanner head 12 moves in relation to the object, thus resulting in effectively real time mensuration of the object as the scanner head 12 moves.
- the optical mensuration apparatus 10 of the present invention dispenses with the need for high precision head positioning apparatus and the complex and expensive mechanical structure typically associated therewith. Further, the hand-held scanner, 12 is easily manipulated by the operator to direct the scanning beam 42 over complex, interior, or blind surface details, which would otherwise be difficult to scan, thus speeding the scanning operation.
- the hand-held scanner head 12 houses the light beam projecting apparatus 14 (FIG. 3), the two one-dimensional spot sensors or detectors 16, 18, and the three pilot light emitters 20, 22, and 24.
- a handle 44 allows the scanner head 12 to be easily manipulated by the operator to guide the scanning beam 42 over the various shapes and hidden contours of the surface 40 of object 38.
- the light beam projecting apparatus comprises a helium-neon (He-Ne) laser 56 to generate collimated scanning beam 42.
- He-Ne helium-neon
- other devices could be used to produce the spot-like scanning beam as would be readily apparent to persons having ordinary skill in the art.
- laser 56 could be replaced by a light emitting diode (LED) and associated collimating lens.
- LED light emitting diode
- a planar mirror 58 which could be optionally pivotally mounted as shown in FIG.
- a rotating many-faceted mirror 60 which directs, or scans beam 42 over the surface 40 in a single plane relative to the scanner 12 (i.e., the plane of the paper in FIG. 3).
- the number of sides of the rotating, many-faceted mirror 60 determines the angle through which scanning beam 42 sweeps.
- the pentagonal mirror shown in FIG. 3 will sweep the beam through a 144-degree angle. More sides will sweep the beam through smaller angles.
- other scanning paths are possible by using irregularly shaped mirrors or multiple rotating mirrors, and the present invention should not be regarded as limited by the particular scanning apparatus shown and described herein.
- the rotating mirror 60 in the preferred embodiment 10 is rotated in the direction indicated by arrow 62 by a simple, unsynchronized motor (not shown).
- planar mirror 58 may be optionally pivotally mounted such that it can be swung out of the beam path to position 58' (shown in broken lines in FIG. 3) to inhibit the scanning action of the beam 42. With the mirror at position 58' the beam 42 will exit straight out aperture 64 in scanner 12 which can then be used as a point-type scanner or as a noncontact pointer for identifying some single point of interest on the surface 40 of object 38.
- the details of the one-dimensional spot detectors 16, 18 are best understood by referring to FIG. 4. Actually, all of the one-dimensional sensors 16, 18, 26, 28, and 30 used in the preferred embodiment 10 of the present invention are identical to the one-dimensional spot detector 16 in every respect. Therefore, for the purpose of giving a detailed description of this embodiment, only the sensor 16 is shown and described in detail since the remaining sensors 18, 26, 28, and 30 have identical features.
- the one-dimensional sensor 16 comprises a cylindrical lens 66 that has a longitudinal axis 74 which is orthogonal to the optical axis 76 of the sensor 16.
- a linear photodetector 68 such as a charge coupled device (CCD) with several thousand elements, or a similar device capable of linear light detection with an elongated aperture 78 is positioned in such a manner that optical axis 76 passes through aperture 78 and such that the long axis of aperture 78 is orthogonal to the plane containing the longitudinal axis 74 of lens 66.
- the incident light beam 43 reflected from illuminated spot 36 is then focused by the cylindrical lens 66 into a real image line 72 on the surface 70 of linear photodetector 68, which is a characteristic of this type of lens.
- the CCD detector 68 then generates a signal, such as the one shown in FIG. 6, that is related to the position of real image line 72 on the surface 70 of photodetector 68, thus characterizing the location of the image itself. That is, those elements of the detector 68 illuminated by the real image line 72 will generate a strong signal, while those not illuminated will generate a weak signal. Thus, a graph of signal strength vs. location on the surface of the CCD will resemble the signal peak curve 100 shown in FIG. 6. Note that the "zero" signal level 102 is never quite zero due to the effects of background light and other imperfections in the sensor. In any event, since the image of illuminated spot 36 is focused into line 72, only the horizontal displacement of spot 36 from optical axis 76 is measured by detector 68, hence the designation "one-dimensional detector.”
- a single one-dimensional detector 16 can only locate the plane on which spot 36 particular beam lies, but detector 16 cannot, by itself, determine the unique location or position in space on which point 36 is located. To precisely locate the location in space of point 36 would require three such detectors postitioned in spaced-apart relation to each other, since the intersection of three planes defines a point. However, if the plane containing the aperture 78 of detector 16 is in the same plane as the scanning beam 42, only two detectors are required to uniquely locate the position of spot 36. Therefore, in the preferred embodiment 10 of the present invention, the apertures 78 of the respective photodetectors 16, 18, lie in the same plane as the scanning beam 42, thereby allowing the exact point in space of illuminated spot 36 to be determined with only two detectors 16, 18.
- the three pilot light emitters 20, 22, and 24 can be high intensity light emitting diodes (LEDs), which are preferably time multiplexed or strobed by control unit 32 in a predetermined manner such that only one pilot light LED is "on" or emitting light at any one time.
- the light emitted from any one of these emitters 20, 22, and 24 is detected by each of the three pilot light detectors 26, 28, and 30, which then determine the position of that particular emitter in relation to the known positions of the detectors 26, 28, and 30 at the instant in time that it is strobed or illuminated.
- the pilot light detectors 26, 28, and 30 are mounted so that their optical axes are not collinear.
- two pilot light detectors such as detectors 26, 30 in FIG. 1, are situated such that their respective axes 74 (FIG. 4) are in parallel spaced-apart relation, with the third detector 28 situated between the first two, but with its axis 74 perpendicular to the first two.
- each of the detectors 26, 28, and 30 then determine a unique plane in which the given pilot emitter lies, the intersection of which defines the exact location of that illuminated emitter.
- the optical mensuration system 10 of the present invention determines the orientation of the scanning head 12 in three-dimensional space by using the three (3) pilot emitters 20, 22, and 24, whose relative positions on the scanning head 12 are fixed and known. Consequently, when each of the emitters 20, 22, and 24 are rapidly turned on in sequence, the sensors 26, 28, and 30 can detect the exact position of each emitter in turn, thus determine the exact location and orientation of the scanning head 12.
- the detectors 26, 28, 30 locate the position of that particular illuminated pilot light only. If the strobe rate, that is, the frequency at which the emitters 20, 22, 24 are turned on and off in sequence, is fast enough, the detectors 26, 28, and 30 can, for all practical purposes, determine the position and orientation of the scanning head 12 at any instant in time.
- the detectors 26, 28, 30, need only distinguish which of the pilot light emitters 20, 22, 24 is “on” or illuminated at any one time. In the preferred embodiment 10 of the present invention, this function is accomplished by strobing or illuminating each of the emitters 20, 22, 24 in sequence.
- other methods could be used to allow the detectors 26, 28, 30 to distinguish the respective pilot light emitters 20, 22, 24 from one another. For example, different colors of light could be used in conjunction with detectors capable of distinguishing those particular colors or wavelengths of light.
- the respective pilot light emitters 20, 22, 24 could be modulated with a unique "tone" for each emitter.
- the control unit 32 or coordinate computer 34 could then be programmed to demodulate the tone, thus determine to which particular emitter 20, 22, or 24 the position signal belongs. Numerous other methods of distinguishing the pilot light emitters 20, 22, and 24 are possible and would be readily apparent to persons having ordinary skill in the art. Therefore, the present invention should not be regarded as limited to the particular strobing method shown and described herein.
- control unit 32 supplies power to the light beam projecting apparatus or source 14, the beam spot sensors 16, 18, the pilot light emitters or sources 20, 22, and 24, and the pilot light sensors 26, 28, and 30.
- the control and synchronization unit 84 and light source sequencer 86 time multiplexes or strobes the beam projecting apparatus 14 and the pilot lights 20, 22, and 24 individually, as described above, so that the position and orientation of the scanning head 12 can be determined from the signals received from pilot light sensors 26, 28 and 30.
- the angular data signals received from the pilot light sensors 26, 28, and 30 and from the spot sensors 16, 18, are converted by analog to digital converter 88. Actually, five analog to digital converters are used, as shown in FIG. 5, but only one is labeled and described herein for brevity, since the other four analog to digital converters are identical and are used to convert the signals from sensors 28 and 30 and 16 and 18, respectively.
- the control and synchronization unit 84 also controls five switches, of which switch 90 is typical, which store all digital data received from the sensors 26, 28, and 30 and 16 and 18 when the pilot light emitters and scanning beam 42 are "off,” and stores these data in background memory 92. Then, when the pilot light sources and scanning beam are illuminated in sequence by light source sequencer 86, the control and synchronization unit 84 changes the state of switch 90, which then redirects the data from the five sensors to the subtraction unit 94. Subtraction unit 94 substracts the "background" data from the illuminated data, thus resulting in a signal relatively free from background noise signal 102 (FIG. 6), since it has been subtracted from the signal.
- the first-last over-threshold unit 96 computes the location of the real image line 72 on the CCD sensor 68 (FIG. 4) by measuring the locations of the edges 104, 106 of the signal blip 100 (FIG. 6) generated by the CCD sensor based on a predetermined threshold signal level. The first-last over-threshold unit 96 then averages the distance between the two edges to find the center of the signal peak, which is often dipped, as shown in FIG. 6. This particular method of determining the center of the signal peak is well known in the art and will not be described in further detail.
- control unit 32 (FIG. 5) transmits the position data to the coordinate computer 34. That is, when the coordinate computer 34 is ready to compute the current location of the illuminated spot 36 on the object, the latest angular data from all sensors are provided for analyzation. If the spot sensors 16, 18, or the pilot light sensors 26, 28, and 30, generate data faster than the control unit 32 can process them, the angular data are simply discarded.
- the coordinate computer 34 calculates one-dimensional positions for each light source based on the location of the signal peak from each respective sensor. These one-dimensional positions are then used to calculate the three-dimensional spatial coordinates for the illuminated spot 36 and for the scanning head 12 in relation to the predetermined coordinate system 80, by coordinate transformation methods which are well-known in the art.
- the output from the coordinate computer 34 can be in any form desired by the operator or required by the application system 80, such as XYZ coordinate triples based upon some predetermined stationary rectangular coordinate system.
- the operation of the optical mensuration apparatus of the present invention is as follows. Upon illumination of a spot 36 on the surface 40 of object 38, the two spot sensors 16, 18 inside the scanner head 12 sense the angular position of the illuminated spot 36 at a given instant in time. The signals from these spot sensors 16, 18, are directed to the control unit 32 via data line 46. Next, the pilot light detectors 26, 28, and 30 are used to sense the individual positions of the three pilot light emitters 20, 22, 24 in sequence as described above. That is, each pilot light detector 26, 28, 30, measures the angle of rays from each of three pilot light emitters 20, 22, 24, mounted on the scanner 12. The angular data from each of these sensors 26, 28, and 30 are also directed to control unit 32 via data lines 48, 50, and 52.
- control unit 32 converts the angular data from each of the sensors 16, 18, 26, 28, and 30, which is in analog form, to digital data and tags these data with information identifying their respective sources. These converted digital data are then processed by removing the background noise and by using known signal detection methods to determine the center of the signal peak, thus the location of the image line 72 on the detector 68. These position locations of the centers of the respective signal peaks from each detector 16, 18, 26, 28, and 30 are then directed to coordinate computer 34 via data line 54, which then computes the current location of the illuminated spot 36 with respect to the predetermined coordinate system 80. Sequential calculations and beam spot position determination can be made as fast as the computer can do so, thus many such points on the surface of the object can be determined as they are scanned almost on a real time basis. These position data can be stored in computer memory, recalled, and correlated together to produce an image of the object in precise reproduction detail, or various points or other features on the object can be mensurated or used in any manner desired.
- cylindrical lenses could be used which have been longitudinally curved along an arc with a radius equal to the focal length of the lens.
- the surfaces of the photodetectors could also be curved, thus allowing the images of distant light sources to remain in sharp focus regardless of their positions.
- Various measurements of the detector outputs are also possible. For example, the angle of peak intensity, the intensity-weighted average, or the average of the minimum and maximum angles where the intensity is over some predetermined threshold value could be used.
- numerous enhancements of the digital data are possible by programming the coordinate computer to make the appropriate enhancements, as would be obvious to those persons having ordinary skill in the art.
Abstract
Description
Claims (15)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/415,126 USRE35816E (en) | 1990-10-15 | 1995-03-30 | Method and apparatus for three-dimensional non-contact shape sensing |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US07/597,505 US5198877A (en) | 1990-10-15 | 1990-10-15 | Method and apparatus for three-dimensional non-contact shape sensing |
US08/415,126 USRE35816E (en) | 1990-10-15 | 1995-03-30 | Method and apparatus for three-dimensional non-contact shape sensing |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US07/597,505 Reissue US5198877A (en) | 1990-10-15 | 1990-10-15 | Method and apparatus for three-dimensional non-contact shape sensing |
Publications (1)
Publication Number | Publication Date |
---|---|
USRE35816E true USRE35816E (en) | 1998-06-02 |
Family
ID=24391805
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US07/597,505 Ceased US5198877A (en) | 1990-10-15 | 1990-10-15 | Method and apparatus for three-dimensional non-contact shape sensing |
US08/415,126 Expired - Lifetime USRE35816E (en) | 1990-10-15 | 1995-03-30 | Method and apparatus for three-dimensional non-contact shape sensing |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US07/597,505 Ceased US5198877A (en) | 1990-10-15 | 1990-10-15 | Method and apparatus for three-dimensional non-contact shape sensing |
Country Status (7)
Country | Link |
---|---|
US (2) | US5198877A (en) |
EP (1) | EP0553266B1 (en) |
JP (1) | JP2974775B2 (en) |
AT (1) | ATE152823T1 (en) |
CA (1) | CA2094039A1 (en) |
DE (1) | DE69126035T2 (en) |
WO (1) | WO1992007233A1 (en) |
Cited By (157)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6146390A (en) | 1992-04-21 | 2000-11-14 | Sofamor Danek Holdings, Inc. | Apparatus and method for photogrammetric surgical localization |
US6222582B1 (en) * | 1997-07-24 | 2001-04-24 | Sumitomo Metal (Smi) Electronics Devices Inc. | Image capture system |
US6226548B1 (en) | 1997-09-24 | 2001-05-01 | Surgical Navigation Technologies, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
US6235038B1 (en) | 1999-10-28 | 2001-05-22 | Medtronic Surgical Navigation Technologies | System for translation of electromagnetic and optical localization systems |
US6271918B2 (en) * | 1999-02-04 | 2001-08-07 | National Research Council Of Canada | Virtual multiple aperture 3-D range sensor |
US20010018594A1 (en) * | 1998-05-14 | 2001-08-30 | Calypso Medical, Inc. | System and Method for Bracketing and Removing Tissue |
US6296613B1 (en) | 1997-08-22 | 2001-10-02 | Synthes (U.S.A.) | 3D ultrasound recording device |
WO2001084479A1 (en) * | 2000-04-28 | 2001-11-08 | Orametirix, Inc. | Method and system for scanning a surface and generating a three-dimensional object |
US20010038705A1 (en) * | 1999-03-08 | 2001-11-08 | Orametrix, Inc. | Scanning system and calibration method for capturing precise three-dimensional information of objects |
US6324296B1 (en) * | 1997-12-04 | 2001-11-27 | Phasespace, Inc. | Distributed-processing motion tracking system for tracking individually modulated light points |
US20020006217A1 (en) * | 2000-04-28 | 2002-01-17 | Orametrix, Inc. | Methods for registration of three-dimensional frames to create three-dimensional virtual models of objects |
US6370224B1 (en) | 1998-06-29 | 2002-04-09 | Sofamor Danek Group, Inc. | System and methods for the reduction and elimination of image artifacts in the calibration of x-ray imagers |
US6374198B1 (en) * | 1996-07-11 | 2002-04-16 | Mirai S.R.L. | Method for the creation of tridimensional numerical models |
US6381485B1 (en) | 1999-10-28 | 2002-04-30 | Surgical Navigation Technologies, Inc. | Registration of human anatomy integrated for electromagnetic localization |
US6379302B1 (en) | 1999-10-28 | 2002-04-30 | Surgical Navigation Technologies Inc. | Navigation information overlay onto ultrasound imagery |
US6413084B1 (en) | 2000-04-28 | 2002-07-02 | Ora Metrix, Inc. | Method and system of scanning |
US20020109705A1 (en) * | 1999-05-03 | 2002-08-15 | Robert Hofstetter | System and method for preparing an image corrected for the presence of a gravity induced distortion |
US6474341B1 (en) | 1999-10-28 | 2002-11-05 | Surgical Navigation Technologies, Inc. | Surgical communication and power system |
US6493095B1 (en) | 1999-04-13 | 2002-12-10 | Inspeck Inc. | Optional 3D digitizer, system and method for digitizing an object |
US6497134B1 (en) | 2000-03-15 | 2002-12-24 | Image Guided Technologies, Inc. | Calibration of an instrument |
US6499488B1 (en) | 1999-10-28 | 2002-12-31 | Winchester Development Associates | Surgical sensor |
US6532299B1 (en) | 2000-04-28 | 2003-03-11 | Orametrix, Inc. | System and method for mapping a surface |
US20030052785A1 (en) * | 2001-09-14 | 2003-03-20 | Margo Gisselberg | Miniature resonating marker assembly |
US6564086B2 (en) * | 2000-05-03 | 2003-05-13 | Rocky Mountain Biosystems, Inc. | Prosthesis and method of making |
US6585651B2 (en) | 1999-04-20 | 2003-07-01 | Synthes Ag Chur | Method and device for percutaneous determination of points associated with the surface of an organ |
US6611141B1 (en) | 1998-12-23 | 2003-08-26 | Howmedica Leibinger Inc | Hybrid 3-D probe tracked by multiple sensors |
US6694168B2 (en) | 1998-06-22 | 2004-02-17 | Synthes (U.S.A.) | Fiducial matching using fiducial implants |
US20040039544A1 (en) * | 1998-07-24 | 2004-02-26 | Merrill M. Stanley | Vehicle wheel alignment by rotating vision sensor |
US6725082B2 (en) | 1999-03-17 | 2004-04-20 | Synthes U.S.A. | System and method for ligament graft placement |
US6724947B1 (en) | 2000-07-14 | 2004-04-20 | International Business Machines Corporation | Method and system for measuring characteristics of curved features |
US6725080B2 (en) | 2000-03-01 | 2004-04-20 | Surgical Navigation Technologies, Inc. | Multiple cannula image guided tool for image guided procedures |
US6728423B1 (en) | 2000-04-28 | 2004-04-27 | Orametrix, Inc. | System and method for mapping a surface |
US6732030B2 (en) | 2001-08-18 | 2004-05-04 | Snap-On U.K. Holdings Limited | Three-dimensional mapping systems for automotive vehicles and other articles |
US6744932B1 (en) | 2000-04-28 | 2004-06-01 | Orametrix, Inc. | System and method for mapping a surface |
US6744914B1 (en) | 2000-04-28 | 2004-06-01 | Orametrix, Inc. | Method and system for generating a three-dimensional object |
US20040127787A1 (en) * | 2002-12-30 | 2004-07-01 | Dimmer Steven C. | Implantable marker with a leadless signal transmitter compatible for use in magnetic resonance devices |
US20040133101A1 (en) * | 2001-06-08 | 2004-07-08 | Mate Timothy P. | Guided radiation therapy system |
US20040147839A1 (en) * | 2002-10-25 | 2004-07-29 | Moctezuma De La Barrera Jose Luis | Flexible tracking article and method of using the same |
US6771809B1 (en) | 2000-04-28 | 2004-08-03 | Orametrix, Inc. | Method and system for registering data |
US20040184040A1 (en) * | 2001-07-17 | 2004-09-23 | Hideto Fujita | Shape measuring device |
US6801637B2 (en) | 1999-08-10 | 2004-10-05 | Cybernet Systems Corporation | Optical body tracker |
US6812842B2 (en) | 2001-12-20 | 2004-11-02 | Calypso Medical Technologies, Inc. | System for excitation of a leadless miniature marker |
US6822570B2 (en) | 2001-12-20 | 2004-11-23 | Calypso Medical Technologies, Inc. | System for spatially adjustable excitation of leadless miniature marker |
US6838990B2 (en) | 2001-12-20 | 2005-01-04 | Calypso Medical Technologies, Inc. | System for excitation leadless miniature marker |
US20050020910A1 (en) * | 2003-04-30 | 2005-01-27 | Henley Quadling | Intra-oral imaging system |
US20050024646A1 (en) * | 2003-05-05 | 2005-02-03 | Mark Quadling | Optical coherence tomography imaging |
US6888640B2 (en) | 2000-02-04 | 2005-05-03 | Mario J. Spina | Body spatial dimension mapper |
US6889833B2 (en) | 2002-12-30 | 2005-05-10 | Calypso Medical Technologies, Inc. | Packaged systems for implanting markers in a patient and methods for manufacturing and using such systems |
US20050099638A1 (en) * | 2003-09-17 | 2005-05-12 | Mark Quadling | High speed multiple line three-dimensional digitization |
US20050105772A1 (en) * | 1998-08-10 | 2005-05-19 | Nestor Voronka | Optical body tracker |
US20050125119A1 (en) * | 2003-12-04 | 2005-06-09 | Matrix Electronic Measuring, L.P. Limited Partnership, Kansas | System for measuring points on a vehicle during damage repair |
US20050131586A1 (en) * | 2003-12-04 | 2005-06-16 | Srack Robert W. | System for measuring points on a vehicle during damage repair |
US6911972B2 (en) * | 2001-04-04 | 2005-06-28 | Matsushita Electric Industrial Co., Ltd. | User interface device |
US20050143645A1 (en) * | 2000-04-05 | 2005-06-30 | Stefan Vilsmeier | Referencing or registering a patient or a patient body part in a medical navigation system by means of irradiation of light points |
US20050154293A1 (en) * | 2003-12-24 | 2005-07-14 | Margo Gisselberg | Implantable marker with wireless signal transmitter |
US20060001543A1 (en) * | 2004-07-01 | 2006-01-05 | Ramesh Raskar | Interactive wireless tag location and identification system |
US20060058644A1 (en) * | 2004-09-10 | 2006-03-16 | Harald Hoppe | System, device, and method for AD HOC tracking of an object |
US20060058648A1 (en) * | 2004-07-23 | 2006-03-16 | Eric Meier | Integrated radiation therapy systems and methods for treating a target in a patient |
US20060062449A1 (en) * | 2004-09-18 | 2006-03-23 | The Ohio Willow Wood Company | Apparatus for determining a three dimensional shape of an object |
US20060095047A1 (en) * | 2004-10-08 | 2006-05-04 | De La Barrera Jose Luis M | System and method for performing arthroplasty of a joint and tracking a plumb line plane |
US7068836B1 (en) | 2000-04-28 | 2006-06-27 | Orametrix, Inc. | System and method for mapping a surface |
US20060184014A1 (en) * | 2004-12-02 | 2006-08-17 | Manfred Pfeiler | Registration aid for medical images |
US7142312B2 (en) | 2002-12-31 | 2006-11-28 | D4D Technologies, Llc | Laser digitizer system for dental applications |
US7184150B2 (en) | 2003-03-24 | 2007-02-27 | D4D Technologies, Llc | Laser digitizer system for dental applications |
US7256899B1 (en) | 2006-10-04 | 2007-08-14 | Ivan Faul | Wireless methods and systems for three-dimensional non-contact shape sensing |
US20080012981A1 (en) * | 2006-07-07 | 2008-01-17 | Goodwin Mark D | Mail processing system with dual camera assembly |
US20080035866A1 (en) * | 2006-07-07 | 2008-02-14 | Lockheed Martin Corporation | Mail imaging system with UV illumination interrupt |
US20080049972A1 (en) * | 2006-07-07 | 2008-02-28 | Lockheed Martin Corporation | Mail imaging system with secondary illumination/imaging window |
US20080077158A1 (en) * | 2006-06-16 | 2008-03-27 | Hani Haider | Method and Apparatus for Computer Aided Surgery |
US20090043556A1 (en) * | 2007-08-07 | 2009-02-12 | Axelson Stuart L | Method of and system for planning a surgery |
USRE40852E1 (en) | 1995-06-14 | 2009-07-14 | Medtronic Navigation, Inc. | Method and system for navigating a catheter probe |
US20090290787A1 (en) * | 2008-05-22 | 2009-11-26 | Matrix Electronic Measuring, L.P. | Stereoscopic measurement system and method |
US20090290759A1 (en) * | 2008-05-22 | 2009-11-26 | Matrix Electronic Measuring, L.P. | Stereoscopic measurement system and method |
US7660623B2 (en) | 2003-01-30 | 2010-02-09 | Medtronic Navigation, Inc. | Six degree of freedom alignment display for medical procedures |
US7697972B2 (en) | 2002-11-19 | 2010-04-13 | Medtronic Navigation, Inc. | Navigation system for cardiac therapies |
US7725162B2 (en) | 2000-01-27 | 2010-05-25 | Howmedica Leibinger Inc. | Surgery system |
US20100141740A1 (en) * | 2007-05-04 | 2010-06-10 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung Ev | Device and Method for Non-Contact Recording of Spatial Coordinates of a Surface |
US7751865B2 (en) | 2003-10-17 | 2010-07-06 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US7763035B2 (en) | 1997-12-12 | 2010-07-27 | Medtronic Navigation, Inc. | Image guided spinal surgery guide, system and method for use thereof |
US7797032B2 (en) | 1999-10-28 | 2010-09-14 | Medtronic Navigation, Inc. | Method and system for navigating a catheter probe in the presence of field-influencing objects |
US7831082B2 (en) | 2000-06-14 | 2010-11-09 | Medtronic Navigation, Inc. | System and method for image based sensor calibration |
US7835784B2 (en) | 2005-09-21 | 2010-11-16 | Medtronic Navigation, Inc. | Method and apparatus for positioning a reference frame |
US7835778B2 (en) | 2003-10-16 | 2010-11-16 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation of a multiple piece construct for implantation |
US7840253B2 (en) | 2003-10-17 | 2010-11-23 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US7853305B2 (en) | 2000-04-07 | 2010-12-14 | Medtronic Navigation, Inc. | Trajectory storage apparatus and method for surgical navigation systems |
US7925328B2 (en) | 2003-08-28 | 2011-04-12 | Medtronic Navigation, Inc. | Method and apparatus for performing stereotactic surgery |
US7953471B2 (en) | 2004-05-03 | 2011-05-31 | Medtronic Navigation, Inc. | Method and apparatus for implantation between two vertebral bodies |
US7974677B2 (en) | 2003-01-30 | 2011-07-05 | Medtronic Navigation, Inc. | Method and apparatus for preplanning a surgical procedure |
US7996064B2 (en) | 1999-03-23 | 2011-08-09 | Medtronic Navigation, Inc. | System and method for placing and determining an appropriately sized surgical implant |
US7998062B2 (en) | 2004-03-29 | 2011-08-16 | Superdimension, Ltd. | Endoscope structures and techniques for navigating to a target in branched structure |
US8060185B2 (en) | 2002-11-19 | 2011-11-15 | Medtronic Navigation, Inc. | Navigation system for cardiac therapies |
US8112292B2 (en) | 2006-04-21 | 2012-02-07 | Medtronic Navigation, Inc. | Method and apparatus for optimizing a therapy |
US8165658B2 (en) | 2008-09-26 | 2012-04-24 | Medtronic, Inc. | Method and apparatus for positioning a guide relative to a base |
USRE43328E1 (en) | 1997-11-20 | 2012-04-24 | Medtronic Navigation, Inc | Image guided awl/tap/screwdriver |
US8175681B2 (en) | 2008-12-16 | 2012-05-08 | Medtronic Navigation Inc. | Combination of electromagnetic and electropotential localization |
US8200314B2 (en) | 1992-08-14 | 2012-06-12 | British Telecommunications Public Limited Company | Surgical navigation |
US8239001B2 (en) | 2003-10-17 | 2012-08-07 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US8345953B2 (en) | 2008-05-22 | 2013-01-01 | Matrix Electronic Measuring Properties, Llc | Stereoscopic measurement system and method |
USRE43952E1 (en) | 1989-10-05 | 2013-01-29 | Medtronic Navigation, Inc. | Interactive system for local intervention inside a non-homogeneous structure |
WO2013033811A1 (en) * | 2011-09-08 | 2013-03-14 | Front Street Investment Management Inc. | Method and apparatus for illuminating a field of view of an optical system for generating three dimensional image information |
US8452068B2 (en) | 2008-06-06 | 2013-05-28 | Covidien Lp | Hybrid registration method |
US8452375B2 (en) | 1998-05-14 | 2013-05-28 | Varian Medical Systems, Inc. | Systems and methods for locating and defining a target location within a human body |
US8473026B2 (en) | 1994-09-15 | 2013-06-25 | Ge Medical Systems Global Technology Company | System for monitoring a position of a medical instrument with respect to a patient's body |
US8473032B2 (en) | 2008-06-03 | 2013-06-25 | Superdimension, Ltd. | Feature-based registration method |
US8494614B2 (en) | 2009-08-31 | 2013-07-23 | Regents Of The University Of Minnesota | Combination localization system |
US8494613B2 (en) | 2009-08-31 | 2013-07-23 | Medtronic, Inc. | Combination localization system |
US8611984B2 (en) | 2009-04-08 | 2013-12-17 | Covidien Lp | Locatable catheter |
US8644907B2 (en) | 1999-10-28 | 2014-02-04 | Medtronic Navigaton, Inc. | Method and apparatus for surgical navigation |
US8641210B2 (en) | 2011-11-30 | 2014-02-04 | Izi Medical Products | Retro-reflective marker including colored mounting portion |
US8660635B2 (en) | 2006-09-29 | 2014-02-25 | Medtronic, Inc. | Method and apparatus for optimizing a computer assisted surgical procedure |
US8663088B2 (en) | 2003-09-15 | 2014-03-04 | Covidien Lp | System of accessories for use with bronchoscopes |
US8661573B2 (en) | 2012-02-29 | 2014-03-04 | Izi Medical Products | Protective cover for medical device having adhesive mechanism |
US8687172B2 (en) | 2011-04-13 | 2014-04-01 | Ivan Faul | Optical digitizer with improved distance measurement capability |
USD705678S1 (en) | 2012-02-21 | 2014-05-27 | Faro Technologies, Inc. | Laser tracker |
US8768437B2 (en) | 1998-08-20 | 2014-07-01 | Sofamor Danek Holdings, Inc. | Fluoroscopic image guided surgery system with intraoperative registration |
US8764725B2 (en) | 2004-02-09 | 2014-07-01 | Covidien Lp | Directional anchoring mechanism, method and applications thereof |
US8838199B2 (en) | 2002-04-04 | 2014-09-16 | Medtronic Navigation, Inc. | Method and apparatus for virtual digital subtraction angiography |
US8845655B2 (en) | 1999-04-20 | 2014-09-30 | Medtronic Navigation, Inc. | Instrument guide system |
US8905920B2 (en) | 2007-09-27 | 2014-12-09 | Covidien Lp | Bronchoscope adapter and method |
US8932207B2 (en) | 2008-07-10 | 2015-01-13 | Covidien Lp | Integrated multi-functional endoscopic tool |
US9007601B2 (en) | 2010-04-21 | 2015-04-14 | Faro Technologies, Inc. | Automatic measurement of dimensional data with a laser tracker |
US9041914B2 (en) | 2013-03-15 | 2015-05-26 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
US9055881B2 (en) | 2004-04-26 | 2015-06-16 | Super Dimension Ltd. | System and method for image-based alignment of an endoscope |
US9151830B2 (en) | 2011-04-15 | 2015-10-06 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote structured-light scanner |
US9164173B2 (en) | 2011-04-15 | 2015-10-20 | Faro Technologies, Inc. | Laser tracker that uses a fiber-optic coupler and an achromatic launch to align and collimate two wavelengths of light |
US9168102B2 (en) | 2006-01-18 | 2015-10-27 | Medtronic Navigation, Inc. | Method and apparatus for providing a container to a sterile environment |
US9237860B2 (en) | 2008-06-05 | 2016-01-19 | Varian Medical Systems, Inc. | Motion compensation for medical imaging and associated systems and methods |
US9298078B2 (en) | 2009-07-10 | 2016-03-29 | Steropes Technologies, Llc | Method and apparatus for generating three-dimensional image information using a single imaging path |
US9377885B2 (en) | 2010-04-21 | 2016-06-28 | Faro Technologies, Inc. | Method and apparatus for locking onto a retroreflector with a laser tracker |
US9395174B2 (en) | 2014-06-27 | 2016-07-19 | Faro Technologies, Inc. | Determining retroreflector orientation by optimizing spatial fit |
US9400170B2 (en) | 2010-04-21 | 2016-07-26 | Faro Technologies, Inc. | Automatic measurement of dimensional data within an acceptance region by a laser tracker |
US9449378B2 (en) | 2008-05-22 | 2016-09-20 | Matrix Electronic Measuring Properties, Llc | System and method for processing stereoscopic vehicle information |
US9453913B2 (en) | 2008-11-17 | 2016-09-27 | Faro Technologies, Inc. | Target apparatus for three-dimensional measurement system |
US9482755B2 (en) | 2008-11-17 | 2016-11-01 | Faro Technologies, Inc. | Measurement system having air temperature compensation between a target and a laser tracker |
US9498231B2 (en) | 2011-06-27 | 2016-11-22 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US9575140B2 (en) | 2008-04-03 | 2017-02-21 | Covidien Lp | Magnetic interference detection system and method |
US9675424B2 (en) | 2001-06-04 | 2017-06-13 | Surgical Navigation Technologies, Inc. | Method for calibrating a navigation system |
US9757087B2 (en) | 2002-02-28 | 2017-09-12 | Medtronic Navigation, Inc. | Method and apparatus for perspective inversion |
US9772394B2 (en) | 2010-04-21 | 2017-09-26 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
US10105149B2 (en) | 2013-03-15 | 2018-10-23 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US10219811B2 (en) | 2011-06-27 | 2019-03-05 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US10418705B2 (en) | 2016-10-28 | 2019-09-17 | Covidien Lp | Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same |
US10426555B2 (en) | 2015-06-03 | 2019-10-01 | Covidien Lp | Medical instrument with sensor for use in a system and method for electromagnetic navigation |
US10446931B2 (en) | 2016-10-28 | 2019-10-15 | Covidien Lp | Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same |
US10478254B2 (en) | 2016-05-16 | 2019-11-19 | Covidien Lp | System and method to access lung tissue |
US10517505B2 (en) | 2016-10-28 | 2019-12-31 | Covidien Lp | Systems, methods, and computer-readable media for optimizing an electromagnetic navigation system |
US10582834B2 (en) | 2010-06-15 | 2020-03-10 | Covidien Lp | Locatable expandable working channel and method |
US10615500B2 (en) | 2016-10-28 | 2020-04-07 | Covidien Lp | System and method for designing electromagnetic navigation antenna assemblies |
US10638952B2 (en) | 2016-10-28 | 2020-05-05 | Covidien Lp | Methods, systems, and computer-readable media for calibrating an electromagnetic navigation system |
US10722311B2 (en) | 2016-10-28 | 2020-07-28 | Covidien Lp | System and method for identifying a location and/or an orientation of an electromagnetic sensor based on a map |
US10751126B2 (en) | 2016-10-28 | 2020-08-25 | Covidien Lp | System and method for generating a map for electromagnetic navigation |
US10792106B2 (en) | 2016-10-28 | 2020-10-06 | Covidien Lp | System for calibrating an electromagnetic navigation system |
US10952593B2 (en) | 2014-06-10 | 2021-03-23 | Covidien Lp | Bronchoscope adapter |
US11006914B2 (en) | 2015-10-28 | 2021-05-18 | Medtronic Navigation, Inc. | Apparatus and method for maintaining image quality while minimizing x-ray dosage of a patient |
US11219489B2 (en) | 2017-10-31 | 2022-01-11 | Covidien Lp | Devices and systems for providing sensors in parallel with medical tools |
US11331150B2 (en) | 1999-10-28 | 2022-05-17 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US11911117B2 (en) | 2011-06-27 | 2024-02-27 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
Families Citing this family (177)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1690511B1 (en) | 1990-10-19 | 2010-07-14 | St. Louis University | Surgical probe locating system for head use |
US5739912A (en) * | 1991-04-26 | 1998-04-14 | Nippon Telegraph And Telephone Corporation | Object profile measuring method and apparatus |
FR2692773B3 (en) * | 1992-06-26 | 1994-08-26 | Diret Francois | Correlation device for three-dimensional seizures of human organs. |
US6757557B1 (en) | 1992-08-14 | 2004-06-29 | British Telecommunications | Position location system |
US5305091A (en) * | 1992-12-07 | 1994-04-19 | Oreo Products Inc. | Optical coordinate measuring system for large objects |
US5805275A (en) * | 1993-04-08 | 1998-09-08 | Kollmorgen Corporation | Scanning optical rangefinder |
ZA942812B (en) * | 1993-04-22 | 1995-11-22 | Pixsys Inc | System for locating the relative positions of objects in three dimensional space |
AU6818694A (en) | 1993-04-26 | 1994-11-21 | St. Louis University | Indicating the position of a surgical probe |
WO1995002163A1 (en) * | 1993-07-08 | 1995-01-19 | Science Accessories Corp. | Position and angle determination using light |
FR2721395B1 (en) * | 1994-06-17 | 1996-08-14 | Homer Eaton | Method for locating a trihedron in space and device for implementing this method. |
US5512998A (en) * | 1994-06-22 | 1996-04-30 | The Titan Corporation | Contactless method and system for determining static and dynamic characteristics of target objects |
US5515301A (en) * | 1994-06-29 | 1996-05-07 | General Electric Company | Real-time visualization system for multiple time-sampled signals |
GB2292605B (en) * | 1994-08-24 | 1998-04-08 | Guy Richard John Fowler | Scanning arrangement and method |
GB2308186B (en) * | 1994-09-28 | 1999-06-09 | William Richard Fright | Arbitrary-geometry laser surface scanner |
DE29521895U1 (en) | 1994-10-07 | 1998-09-10 | Univ St Louis | Surgical navigation system comprising reference and localization frames |
US5588430A (en) * | 1995-02-14 | 1996-12-31 | University Of Florida Research Foundation, Inc. | Repeat fixation for frameless stereotactic procedure |
JP3614935B2 (en) * | 1995-06-20 | 2005-01-26 | オリンパス株式会社 | 3D image measuring device |
US6445884B1 (en) | 1995-06-22 | 2002-09-03 | 3Dv Systems, Ltd. | Camera with through-the-lens lighting |
US6057909A (en) * | 1995-06-22 | 2000-05-02 | 3Dv Systems Ltd. | Optical ranging camera |
IL114278A (en) * | 1995-06-22 | 2010-06-16 | Microsoft Internat Holdings B | Camera and method |
GB9515311D0 (en) * | 1995-07-26 | 1995-09-20 | 3D Scanners Ltd | Stripe scanners and methods of scanning |
US5920394A (en) * | 1995-09-01 | 1999-07-06 | Research Corporation Technologies, Inc. | Optical coordinate measuring machine |
US5806518A (en) | 1995-09-11 | 1998-09-15 | Integrated Surgical Systems | Method and system for positioning surgical robot |
US5856844A (en) * | 1995-09-21 | 1999-01-05 | Omniplanar, Inc. | Method and apparatus for determining position and orientation |
US5793483A (en) * | 1996-02-07 | 1998-08-11 | Visidyne, Inc. | Optical measurement system |
US6167145A (en) | 1996-03-29 | 2000-12-26 | Surgical Navigation Technologies, Inc. | Bone navigation system |
US6408107B1 (en) | 1996-07-10 | 2002-06-18 | Michael I. Miller | Rapid convolution based large deformation image matching via landmark and volume imagery |
US6226418B1 (en) | 1997-11-07 | 2001-05-01 | Washington University | Rapid convolution based large deformation image matching via landmark and volume imagery |
US5832139A (en) * | 1996-07-31 | 1998-11-03 | Omniplanar, Inc. | Method and apparatus for determining degrees of freedom of a camera |
AU718579B2 (en) * | 1996-08-22 | 2000-04-13 | Ao Technology Ag | Ultrasonographic 3-D imaging system |
US5776136A (en) * | 1996-09-30 | 1998-07-07 | Integrated Surgical Systems, Inc. | Method and system for finish cutting bone cavities |
US6217334B1 (en) | 1997-01-28 | 2001-04-17 | Iris Development Corporation | Dental scanning method and apparatus |
WO1998036371A1 (en) | 1997-02-13 | 1998-08-20 | Integrated Surgical Systems, Inc. | Method and system for registering the position of a surgical system with a preoperative bone image |
WO1998039842A1 (en) * | 1997-03-06 | 1998-09-11 | Howard Robert B | Wrist-pendant wireless optical keyboard |
USD422706S (en) * | 1997-04-30 | 2000-04-11 | Surgical Navigation Technologies | Biopsy guide tube |
EP0875771B1 (en) * | 1997-04-30 | 2004-07-14 | Sick Ag | Opto-electronic sensor with multiple photosensitive elements arranged in a row or array |
US5907395A (en) * | 1997-06-06 | 1999-05-25 | Image Guided Technologies, Inc. | Optical fiber probe for position measurement |
US6069700A (en) * | 1997-07-31 | 2000-05-30 | The Boeing Company | Portable laser digitizing system for large parts |
US6434507B1 (en) | 1997-09-05 | 2002-08-13 | Surgical Navigation Technologies, Inc. | Medical instrument and method for use with computer-assisted image guided surgery |
USD420132S (en) * | 1997-11-03 | 2000-02-01 | Surgical Navigation Technologies | Drill guide |
US6094269A (en) * | 1997-12-31 | 2000-07-25 | Metroptic Technologies, Ltd. | Apparatus and method for optically measuring an object surface contour |
JP3897322B2 (en) * | 1998-02-09 | 2007-03-22 | 株式会社トプコン | Laser irradiation device |
US6456749B1 (en) * | 1998-02-27 | 2002-09-24 | Carnegie Mellon University | Handheld apparatus for recognition of writing, for remote communication, and for user defined input templates |
US7268774B2 (en) * | 1998-08-18 | 2007-09-11 | Candledragon, Inc. | Tracking motion of a writing instrument |
US20100008551A9 (en) * | 1998-08-18 | 2010-01-14 | Ilya Schiller | Using handwritten information |
US6482182B1 (en) | 1998-09-03 | 2002-11-19 | Surgical Navigation Technologies, Inc. | Anchoring system for a brain lead |
US6033415A (en) * | 1998-09-14 | 2000-03-07 | Integrated Surgical Systems | System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system |
US6340363B1 (en) | 1998-10-09 | 2002-01-22 | Surgical Navigation Technologies, Inc. | Image guided vertebral distractor and method for tracking the position of vertebrae |
US6633686B1 (en) | 1998-11-05 | 2003-10-14 | Washington University | Method and apparatus for image registration using large deformation diffeomorphisms on a sphere |
US6430434B1 (en) | 1998-12-14 | 2002-08-06 | Integrated Surgical Systems, Inc. | Method for determining the location and orientation of a bone for computer-assisted orthopedic procedures using intraoperatively attached markers |
US6322567B1 (en) | 1998-12-14 | 2001-11-27 | Integrated Surgical Systems, Inc. | Bone motion tracking system |
DE19916623A1 (en) | 1999-04-13 | 2000-11-30 | Lorenz Smekal | Device for recording sectional images through a human or animal body |
AU3549100A (en) * | 1999-04-19 | 2000-11-02 | Leica Geosystems Ag | Indirect position determination with the aid of a tracker |
US6297488B1 (en) | 1999-04-29 | 2001-10-02 | National Research Council Of Canada | Position sensitive light spot detector |
US6614422B1 (en) | 1999-11-04 | 2003-09-02 | Canesta, Inc. | Method and apparatus for entering data using a virtual input device |
WO2000073738A1 (en) * | 1999-05-26 | 2000-12-07 | Sanyo Electric Co., Ltd. | Shape measuring device |
NO313113B1 (en) * | 1999-07-13 | 2002-08-12 | Metronor Asa | System for scanning large geometry of objects |
CA2278108C (en) | 1999-07-20 | 2008-01-29 | The University Of Western Ontario | Three-dimensional measurement method and apparatus |
US6747539B1 (en) | 1999-10-28 | 2004-06-08 | Michael A. Martinelli | Patient-shielding and coil system |
US6701179B1 (en) | 1999-10-28 | 2004-03-02 | Michael A. Martinelli | Coil structures and methods for generating magnetic fields |
DE10005203A1 (en) * | 2000-02-05 | 2001-08-16 | Bayerische Motoren Werke Ag | Measurement arrangement for forming and recording image of 3-dimensional object derives measurement head unit position relative to object from distances between measurement points |
GB0008303D0 (en) * | 2000-04-06 | 2000-05-24 | British Aerospace | Measurement system and method |
US6771840B1 (en) * | 2000-05-18 | 2004-08-03 | Leica Geosystems Hds, Inc. | Apparatus and method for identifying the points that lie on a surface of interest |
DE10025897B4 (en) * | 2000-05-25 | 2004-07-15 | Sick Ag | Method for operating an optoelectronic sensor arrangement and optoelectronic sensor arrangement |
ES2254519T3 (en) * | 2000-08-31 | 2006-06-16 | Plus Orthopedics Ag | DETERMINATION DEVICE OF A LOADING AXLE OF AN EXTREMITY. |
KR100382905B1 (en) * | 2000-10-07 | 2003-05-09 | 주식회사 케이씨아이 | 3 Dimension Scanner System for Tooth modelling |
US6579095B2 (en) | 2000-12-22 | 2003-06-17 | Geodigm Corporation | Mating parts scanning and registration methods |
EP1412697A1 (en) | 2001-08-01 | 2004-04-28 | National Research Council Of Canada | System and method of light spot position and color detection |
US7257255B2 (en) * | 2001-11-21 | 2007-08-14 | Candledragon, Inc. | Capturing hand motion |
DE10203992A1 (en) * | 2002-01-31 | 2003-08-14 | Deutsch Zentr Luft & Raumfahrt | input device |
US7881896B2 (en) | 2002-02-14 | 2011-02-01 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated line laser scanner |
US7716024B2 (en) * | 2002-04-29 | 2010-05-11 | Geodigm Corporation | Method and apparatus for electronically generating a color dental occlusion map within electronic model images |
US20030220778A1 (en) * | 2002-04-29 | 2003-11-27 | Hultgren Bruce Willard | Method and apparatus for electronically simulating jaw function within electronic model images |
AU2003215562A1 (en) * | 2002-05-21 | 2003-12-02 | Plus Endoprothetik Ag | Arrangement for determining function-determined geometric variables of a joint of a vertebrate |
DE10306793A1 (en) * | 2002-05-21 | 2003-12-04 | Plus Endoprothetik Ag Rotkreuz | Arrangement and method for the intraoperative determination of the position of a joint replacement implant |
JP2004071366A (en) | 2002-08-07 | 2004-03-04 | Omron Corp | Photoelectric sensor |
DE10239468A1 (en) * | 2002-08-28 | 2004-03-11 | Sick Ag | object detection |
DE10241069B4 (en) * | 2002-09-05 | 2004-07-15 | Aesculap Ag & Co. Kg | Device for detecting the contour of a surface |
US7166114B2 (en) * | 2002-09-18 | 2007-01-23 | Stryker Leibinger Gmbh & Co Kg | Method and system for calibrating a surgical tool and adapter thereof |
JP3624353B2 (en) | 2002-11-14 | 2005-03-02 | 有限会社テクノドリーム二十一 | Three-dimensional shape measuring method and apparatus |
EP1420264B1 (en) | 2002-11-15 | 2011-01-05 | Leica Geosystems AG | Method and device for calibrating a measurement system |
DE10335829A1 (en) * | 2003-08-05 | 2005-03-10 | Siemens Ag | Method for determining the axle geometry and sensor for carrying it out |
US6950775B2 (en) * | 2003-12-01 | 2005-09-27 | Snap-On Incorporated | Coordinate measuring system and field-of-view indicators therefor |
US7771436B2 (en) * | 2003-12-10 | 2010-08-10 | Stryker Leibinger Gmbh & Co. Kg. | Surgical navigation tracker, system and method |
US7873400B2 (en) * | 2003-12-10 | 2011-01-18 | Stryker Leibinger Gmbh & Co. Kg. | Adapter for surgical navigation trackers |
US7702492B2 (en) | 2004-03-11 | 2010-04-20 | Geodigm Corporation | System and method for generating an electronic model for a dental impression having a common coordinate system |
US7824346B2 (en) * | 2004-03-11 | 2010-11-02 | Geodigm Corporation | Determining condyle displacement utilizing electronic models of dental impressions having a common coordinate system |
US7375826B1 (en) * | 2004-09-23 | 2008-05-20 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration (Nasa) | High speed three-dimensional laser scanner with real time processing |
DE102004056400A1 (en) * | 2004-11-23 | 2006-05-24 | Daimlerchrysler Ag | Alignment method for recognizing maladjustment in a distance sensor fitted in a motor vehicle brings the vehicle along a driving line into a measuring position for a measuring device |
US8244332B2 (en) | 2004-12-22 | 2012-08-14 | Siemens Medical Solutions Usa, Inc. | Three-dimensional breast anatomy imaging system |
US7623250B2 (en) * | 2005-02-04 | 2009-11-24 | Stryker Leibinger Gmbh & Co. Kg. | Enhanced shape characterization device and method |
DE102005043912B4 (en) * | 2005-05-18 | 2011-08-18 | Steinbichler Optotechnik GmbH, 83115 | Method for determining the 3D coordinates of the surface of an object |
US8625854B2 (en) | 2005-09-09 | 2014-01-07 | Industrial Research Limited | 3D scene scanner and a position and orientation system |
US7755026B2 (en) * | 2006-05-04 | 2010-07-13 | CandleDragon Inc. | Generating signals representative of sensed light that is associated with writing being done by a user |
DE102006031833A1 (en) * | 2006-05-24 | 2007-12-06 | Dr. Wirth Grafische Technik Gmbh & Co. Kg | Method for generating image information |
US7710555B2 (en) | 2006-06-27 | 2010-05-04 | Burke E. Porter Machinery Company | Apparatus and method for determining the orientation of an object such as vehicle wheel alignment |
US20080166175A1 (en) * | 2007-01-05 | 2008-07-10 | Candledragon, Inc. | Holding and Using an Electronic Pen and Paper |
US7864309B2 (en) * | 2007-05-04 | 2011-01-04 | Burke E. Porter Machinery Company | Non contact wheel alignment sensor and method |
TW200907764A (en) * | 2007-08-01 | 2009-02-16 | Unique Instr Co Ltd | Three-dimensional virtual input and simulation apparatus |
EP2026034B1 (en) * | 2007-08-16 | 2020-04-29 | Carl Zeiss Optotechnik GmbH | Device for determining the 3D coordinates of an object, in particular a tooth |
JP5474825B2 (en) | 2008-01-24 | 2014-04-16 | コーニンクレッカ フィリップス エヌ ヴェ | Sensor device with tilt or direction correction light sensor for environment generation |
WO2009116508A1 (en) * | 2008-03-19 | 2009-09-24 | 株式会社安川電機 | Shape measuring device and robot device with the same |
DE102008023218A1 (en) * | 2008-05-10 | 2009-11-12 | Aesculap Ag | Method and device for examining a body with an ultrasound head |
US8265376B2 (en) * | 2008-07-21 | 2012-09-11 | Cognitens Ltd. | Method and system for providing a digital model of an object |
DE102008039838B4 (en) * | 2008-08-27 | 2011-09-22 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for scanning the three-dimensional surface of an object by means of a light beam scanner |
DE102008045387B4 (en) * | 2008-09-02 | 2017-02-09 | Carl Zeiss Ag | Apparatus and method for measuring a surface |
US7898353B2 (en) | 2009-05-15 | 2011-03-01 | Freescale Semiconductor, Inc. | Clock conditioning circuit |
DE102009032262A1 (en) | 2009-07-08 | 2011-01-13 | Steinbichler Optotechnik Gmbh | Method for determining the 3D coordinates of an object |
DE102009033886A1 (en) | 2009-07-20 | 2011-01-27 | Steinbichler Optotechnik Gmbh | Method for displaying the surface of an object |
US8497981B2 (en) * | 2009-09-15 | 2013-07-30 | Qualcomm Incorporated | Small form-factor size sensor |
US8396685B2 (en) * | 2009-09-15 | 2013-03-12 | Qualcomm Incorporated | Small form-factor distance sensor |
DE102010018979A1 (en) | 2010-05-03 | 2011-11-03 | Steinbichler Optotechnik Gmbh | Method and device for determining the 3D coordinates of an object |
DE102010064320B4 (en) * | 2010-12-29 | 2019-05-23 | Siemens Healthcare Gmbh | Optical pointer for a surgical assistance system |
DE102011011360A1 (en) * | 2011-02-16 | 2012-08-16 | Steinbichler Optotechnik Gmbh | Apparatus and method for determining the 3-D coordinates of an object and for calibrating an industrial robot |
US9875574B2 (en) * | 2013-12-17 | 2018-01-23 | General Electric Company | Method and device for automatically identifying the deepest point on the surface of an anomaly |
US10586341B2 (en) | 2011-03-04 | 2020-03-10 | General Electric Company | Method and device for measuring features on or near an object |
US10157495B2 (en) * | 2011-03-04 | 2018-12-18 | General Electric Company | Method and device for displaying a two-dimensional image of a viewed object simultaneously with an image depicting the three-dimensional geometry of the viewed object |
EP2557391A1 (en) | 2011-08-12 | 2013-02-13 | Leica Geosystems AG | Measuring device for determining the spatial location of a measuring aid |
DE102011114674C5 (en) | 2011-09-30 | 2020-05-28 | Steinbichler Optotechnik Gmbh | Method and device for determining the 3D coordinates of an object |
EP2589982A1 (en) | 2011-11-03 | 2013-05-08 | Leica Geosystems AG | Laser diode as interferometer laserbeam source in a laser tracker |
EP2602641B1 (en) * | 2011-12-06 | 2014-02-26 | Leica Geosystems AG | Laser tracker with position-sensitive detectors for searching a target |
EP2618175A1 (en) | 2012-01-17 | 2013-07-24 | Leica Geosystems AG | Laser tracker with graphical targeting functionality |
TWI491194B (en) * | 2012-02-21 | 2015-07-01 | Mstar Semiconductor Inc | Method and associated apparatus for determining signal timing of wireless network signal |
CN103297369B (en) * | 2012-03-01 | 2016-05-11 | 晨星软件研发(深圳)有限公司 | In wireless network signal, define method and the relevant apparatus of signal sequence |
EP2634594A1 (en) | 2012-03-01 | 2013-09-04 | Leica Geosystems AG | Method for determining a change in distance by means of interferometry |
EP2639615A1 (en) | 2012-03-13 | 2013-09-18 | Leica Geosystems AG | Camera system with a zoom lens and a linear encoder |
EP2662661A1 (en) | 2012-05-07 | 2013-11-13 | Leica Geosystems AG | Measuring device with an interferometer and an absorption medium defining a thick line spectrum |
EP2662702A1 (en) | 2012-05-07 | 2013-11-13 | Leica Geosystems AG | Laser tracker with interferometer and absolute distance measuring unit and calibration method for a laser tracker |
GB2540075B (en) * | 2012-05-18 | 2017-04-19 | Acergy France SAS | Improvements relating to pipe measurement |
EP2687866A1 (en) | 2012-07-19 | 2014-01-22 | Leica Geosystems AG | Laser tracker with calibration unit for self-calibration |
EP2706376A1 (en) | 2012-09-07 | 2014-03-12 | Leica Geosystems AG | Laser tracker with hybrid imaging method for expanding measurement range |
US9127942B1 (en) * | 2012-09-21 | 2015-09-08 | Amazon Technologies, Inc. | Surface distance determination using time-of-flight of light |
CA2928460C (en) | 2012-10-30 | 2021-10-19 | Truinject Medical Corp. | System for injection training |
EP2728375A1 (en) | 2012-10-31 | 2014-05-07 | Leica Geosystems AG | Method and device for determining the orientation of an object |
KR102364736B1 (en) | 2013-03-14 | 2022-02-17 | 씽크 써지컬, 인크. | Systems and methods for monitoring a surgical procedure with critical regions |
US9545288B2 (en) | 2013-03-14 | 2017-01-17 | Think Surgical, Inc. | Systems and devices for a counter balanced surgical robot |
EP2801839B1 (en) | 2013-05-10 | 2020-03-04 | Leica Geosystems AG | Handheld measuring aid for use with a 6-DoF laser tracker |
EP2801841B1 (en) | 2013-05-10 | 2018-07-04 | Leica Geosystems AG | Laser tracker with a target detecting unit for a target tracking system and orientation detection |
EP2827099A1 (en) | 2013-07-16 | 2015-01-21 | Leica Geosystems AG | Laser tracker with target searching functionality |
US10135225B2 (en) * | 2013-08-02 | 2018-11-20 | Koninklijke Philips N.V. | Laser device with adjustable polarization |
US9381417B2 (en) | 2013-08-16 | 2016-07-05 | Shimano Inc. | Bicycle fitting system |
US9600928B2 (en) * | 2013-12-17 | 2017-03-21 | General Electric Company | Method and device for automatically identifying a point of interest on the surface of an anomaly |
US9818039B2 (en) * | 2013-12-17 | 2017-11-14 | General Electric Company | Method and device for automatically identifying a point of interest in a depth measurement on a viewed object |
JP6227395B2 (en) * | 2013-12-18 | 2017-11-08 | 株式会社ミツトヨ | Three-dimensional measurement system, three-dimensional measurement method, object to be measured, and position detection device |
WO2015109251A1 (en) | 2014-01-17 | 2015-07-23 | Truinject Medical Corp. | Injection site training system |
EP2896931A1 (en) * | 2014-01-21 | 2015-07-22 | Aimess Services GmbH | Device and method for determining the change in position of a 3D measuring head |
US10111714B2 (en) | 2014-01-27 | 2018-10-30 | Align Technology, Inc. | Adhesive objects for improving image registration of intraoral images |
US10290231B2 (en) | 2014-03-13 | 2019-05-14 | Truinject Corp. | Automated detection of performance characteristics in an injection training system |
DE102015004873A1 (en) | 2014-04-17 | 2015-10-22 | Steinbichler Optotechnik Gmbh | Method and device for determining the 3D coordinates of an object |
CN106537179B (en) * | 2014-06-30 | 2019-04-19 | 博迪戴特股份有限公司 | For determining the hand-held multisensor syste of the size of irregular object |
EP2980526B1 (en) | 2014-07-30 | 2019-01-16 | Leica Geosystems AG | Coordinate measuring device and method |
EP3006895B1 (en) | 2014-10-10 | 2020-02-19 | Leica Geosystems AG | Laser tracker with hot air flow shielding for the measurement beam |
JP6712994B2 (en) * | 2014-11-21 | 2020-06-24 | シンク サージカル, インコーポレイテッド | A visible light communication system for transmitting data between a visual tracking system and a tracking marker |
EP3227880B1 (en) | 2014-12-01 | 2018-09-26 | Truinject Corp. | Injection training tool emitting omnidirectional light |
US10932866B1 (en) | 2014-12-08 | 2021-03-02 | Think Surgical, Inc. | Implant based planning, digitizing, and registration for total joint arthroplasty |
AU2015360839B2 (en) * | 2014-12-08 | 2019-09-12 | Think Surgical, Inc. | Implant based planning, digitizing, and registration for total joint arthroplasty |
EP3032277B1 (en) | 2014-12-12 | 2021-04-07 | Leica Geosystems AG | Laser tracker |
JP6634229B2 (en) * | 2015-06-26 | 2020-01-22 | Mogコンサルタント株式会社 | Method for creating a bar arrangement model using a handheld three-dimensional laser scanner |
KR20180107076A (en) | 2015-10-20 | 2018-10-01 | 트루인젝트 코프 | Injection system |
WO2017151441A2 (en) | 2016-02-29 | 2017-09-08 | Truinject Medical Corp. | Cosmetic and therapeutic injection safety systems, methods, and devices |
US10849688B2 (en) | 2016-03-02 | 2020-12-01 | Truinject Corp. | Sensory enhanced environments for injection aid and social training |
EP3220163B1 (en) | 2016-03-15 | 2021-07-07 | Leica Geosystems AG | Laser tracker with two measuring function alities |
DE112017004974T5 (en) | 2016-09-30 | 2019-06-19 | Burke E. Porter Machinery Company | Wheel alignment measurement system and system for vehicle wheels |
US10269266B2 (en) | 2017-01-23 | 2019-04-23 | Truinject Corp. | Syringe dose and position measuring apparatus |
US10247542B2 (en) | 2017-08-09 | 2019-04-02 | Leica Geosystems Ag | Handheld measuring aid with a 3-axis joint connection and a spherical encoder |
US11597091B2 (en) | 2018-04-30 | 2023-03-07 | BPG Sales and Technology Investments, LLC | Robotic target alignment for vehicle sensor calibration |
US11243074B2 (en) | 2018-04-30 | 2022-02-08 | BPG Sales and Technology Investments, LLC | Vehicle alignment and sensor calibration system |
AU2019263751A1 (en) | 2018-04-30 | 2020-12-17 | BPG Sales and Technology Investments, LLC | Vehicular alignment for sensor calibration |
US11781860B2 (en) | 2018-04-30 | 2023-10-10 | BPG Sales and Technology Investments, LLC | Mobile vehicular alignment for sensor calibration |
US11835646B2 (en) | 2018-04-30 | 2023-12-05 | BPG Sales and Technology Investments, LLC | Target alignment for vehicle sensor calibration |
US11291507B2 (en) | 2018-07-16 | 2022-04-05 | Mako Surgical Corp. | System and method for image based registration and calibration |
WO2021011530A1 (en) | 2019-07-16 | 2021-01-21 | Bodidata, Inc. | Systems and methods for improved radar scanning coverage and efficiency |
CN111881719B (en) * | 2020-06-09 | 2024-04-16 | 青岛奥美克生物信息科技有限公司 | Non-contact type biological recognition guiding device, method and biological feature recognition system |
US11635291B2 (en) | 2021-04-30 | 2023-04-25 | Mitutoyo Corporation | Workpiece holder for utilization in metrology system for measuring workpiece in different orientations |
EP4198449A1 (en) | 2021-12-14 | 2023-06-21 | Hexagon Technology Center GmbH | Metrology system |
EP4332495A1 (en) | 2022-09-01 | 2024-03-06 | Leica Geosystems AG | Measuring instrument with a scanning absolute distance meter |
EP4343272A1 (en) | 2022-09-20 | 2024-03-27 | Hexagon Technology Center GmbH | Sensor with curved reflector |
Citations (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3821469A (en) * | 1972-05-15 | 1974-06-28 | Amperex Electronic Corp | Graphical data device |
US3983474A (en) * | 1975-02-21 | 1976-09-28 | Polhemus Navigation Sciences, Inc. | Tracking and determining orientation of object using coordinate transformation means, system and process |
US4209254A (en) * | 1978-02-03 | 1980-06-24 | Thomson-Csf | System for monitoring the movements of one or more point sources of luminous radiation |
US4585350A (en) * | 1983-01-28 | 1986-04-29 | Pryor Timothy R | Pulsed robotic inspection |
US4649504A (en) * | 1984-05-22 | 1987-03-10 | Cae Electronics, Ltd. | Optical position and orientation measurement techniques |
US4660970A (en) * | 1983-11-25 | 1987-04-28 | Carl-Zeiss-Stiftung | Method and apparatus for the contact-less measuring of objects |
US4701047A (en) * | 1984-06-22 | 1987-10-20 | Dornier Gmbh | Line selection for preparing range images |
US4701049A (en) * | 1983-06-22 | 1987-10-20 | B.V. Optische Industrie "De Oude Delft" | Measuring system employing a measuring method based on the triangulation principle for the non-contact measurement of a distance from the surface of a contoured object to a reference level. _ |
US4705395A (en) * | 1984-10-03 | 1987-11-10 | Diffracto Ltd. | Triangulation data integrity |
US4705401A (en) * | 1985-08-12 | 1987-11-10 | Cyberware Laboratory Inc. | Rapid three-dimensional surface digitizer |
US4709156A (en) * | 1985-11-27 | 1987-11-24 | Ex-Cell-O Corporation | Method and apparatus for inspecting a surface |
US4721384A (en) * | 1985-01-26 | 1988-01-26 | Deutsche Forschungs- Und Versuchsanstalt Fur Luft- Und Raumfahrt E.V. | Optical-electronic rangefinder |
US4721388A (en) * | 1984-10-05 | 1988-01-26 | Hitachi, Ltd. | Method of measuring shape of object in non-contacting manner |
US4733969A (en) * | 1986-09-08 | 1988-03-29 | Cyberoptics Corporation | Laser probe for determining distance |
US4737032A (en) * | 1985-08-26 | 1988-04-12 | Cyberware Laboratory, Inc. | Surface mensuration sensor |
US4743771A (en) * | 1985-06-17 | 1988-05-10 | View Engineering, Inc. | Z-axis height measurement system |
US4745290A (en) * | 1987-03-19 | 1988-05-17 | David Frankel | Method and apparatus for use in making custom shoes |
US4753528A (en) * | 1983-12-13 | 1988-06-28 | Quantime, Inc. | Laser archery distance device |
US4761072A (en) * | 1986-09-30 | 1988-08-02 | Diffracto Ltd. | Electro-optical sensors for manual control |
US4764015A (en) * | 1986-12-31 | 1988-08-16 | Owens-Illinois Television Products Inc. | Method and apparatus for non-contact spatial measurement |
US4764016A (en) * | 1985-06-14 | 1988-08-16 | Anders Bengtsson | Instrument for measuring the topography of a surface |
US4767934A (en) * | 1986-07-02 | 1988-08-30 | Honeywell Inc. | Active ranging system |
US4775235A (en) * | 1984-06-08 | 1988-10-04 | Robotic Vision Systems, Inc. | Optical spot scanning system for use in three-dimensional object inspection |
US4782239A (en) * | 1985-04-05 | 1988-11-01 | Nippon Kogaku K. K. | Optical position measuring apparatus |
US4794262A (en) * | 1985-12-03 | 1988-12-27 | Yukio Sato | Method and apparatus for measuring profile of three-dimensional object |
US4803645A (en) * | 1985-09-19 | 1989-02-07 | Tokyo Kogaku Kikai Kabushiki Kaisha | Method and apparatus for measuring coordinates |
US4821200A (en) * | 1986-04-14 | 1989-04-11 | Jonkopings Lans Landsting | Method and apparatus for manufacturing a modified, three-dimensional reproduction of a soft, deformable object |
US4822163A (en) * | 1986-06-26 | 1989-04-18 | Robotic Vision Systems, Inc. | Tracking vision sensor |
US4825091A (en) * | 1987-02-05 | 1989-04-25 | Carl-Zeiss-Stiftung | Optoelectronic distance sensor with visible pilot beam |
US4829373A (en) * | 1987-08-03 | 1989-05-09 | Vexcel Corporation | Stereo mensuration apparatus |
US4836778A (en) * | 1987-05-26 | 1989-06-06 | Vexcel Corporation | Mandibular motion monitoring system |
US4982188A (en) * | 1988-09-20 | 1991-01-01 | Grumman Aerospace Corporation | System for measuring positional characteristics of an ejected object |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE216041T1 (en) * | 1985-08-01 | 1987-10-15 | Brown & Sharpe Mfg. Co., 02852 North Kingston, Ri., Us | METHOD AND DEVICE FOR THREE-DIMENSIONAL MEASUREMENT OF AN OBJECT. |
US4792696A (en) * | 1987-06-05 | 1988-12-20 | Trustees Of Columbia University In The City Of New York | Method and an apparatus for determining surface shape utilizing object self-shadowing |
DE3807578A1 (en) * | 1988-03-08 | 1989-09-28 | Neumeyer Stefan | Method for the three-dimensional detection and/or determination of a body, in particular a human skull (cranium) |
-
1990
- 1990-10-15 US US07/597,505 patent/US5198877A/en not_active Ceased
-
1991
- 1991-10-11 EP EP91920138A patent/EP0553266B1/en not_active Expired - Lifetime
- 1991-10-11 WO PCT/US1991/007511 patent/WO1992007233A1/en active IP Right Grant
- 1991-10-11 DE DE69126035T patent/DE69126035T2/en not_active Expired - Fee Related
- 1991-10-11 AT AT91920138T patent/ATE152823T1/en not_active IP Right Cessation
- 1991-10-11 CA CA002094039A patent/CA2094039A1/en not_active Withdrawn
- 1991-10-11 JP JP3518467A patent/JP2974775B2/en not_active Expired - Fee Related
-
1995
- 1995-03-30 US US08/415,126 patent/USRE35816E/en not_active Expired - Lifetime
Patent Citations (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3821469A (en) * | 1972-05-15 | 1974-06-28 | Amperex Electronic Corp | Graphical data device |
US3983474A (en) * | 1975-02-21 | 1976-09-28 | Polhemus Navigation Sciences, Inc. | Tracking and determining orientation of object using coordinate transformation means, system and process |
US4209254A (en) * | 1978-02-03 | 1980-06-24 | Thomson-Csf | System for monitoring the movements of one or more point sources of luminous radiation |
US4585350A (en) * | 1983-01-28 | 1986-04-29 | Pryor Timothy R | Pulsed robotic inspection |
US4701049A (en) * | 1983-06-22 | 1987-10-20 | B.V. Optische Industrie "De Oude Delft" | Measuring system employing a measuring method based on the triangulation principle for the non-contact measurement of a distance from the surface of a contoured object to a reference level. _ |
US4660970A (en) * | 1983-11-25 | 1987-04-28 | Carl-Zeiss-Stiftung | Method and apparatus for the contact-less measuring of objects |
US4753528A (en) * | 1983-12-13 | 1988-06-28 | Quantime, Inc. | Laser archery distance device |
US4649504A (en) * | 1984-05-22 | 1987-03-10 | Cae Electronics, Ltd. | Optical position and orientation measurement techniques |
US4775235A (en) * | 1984-06-08 | 1988-10-04 | Robotic Vision Systems, Inc. | Optical spot scanning system for use in three-dimensional object inspection |
US4701047A (en) * | 1984-06-22 | 1987-10-20 | Dornier Gmbh | Line selection for preparing range images |
US4705395A (en) * | 1984-10-03 | 1987-11-10 | Diffracto Ltd. | Triangulation data integrity |
US4721388A (en) * | 1984-10-05 | 1988-01-26 | Hitachi, Ltd. | Method of measuring shape of object in non-contacting manner |
US4721384A (en) * | 1985-01-26 | 1988-01-26 | Deutsche Forschungs- Und Versuchsanstalt Fur Luft- Und Raumfahrt E.V. | Optical-electronic rangefinder |
US4782239A (en) * | 1985-04-05 | 1988-11-01 | Nippon Kogaku K. K. | Optical position measuring apparatus |
US4764016A (en) * | 1985-06-14 | 1988-08-16 | Anders Bengtsson | Instrument for measuring the topography of a surface |
US4743771A (en) * | 1985-06-17 | 1988-05-10 | View Engineering, Inc. | Z-axis height measurement system |
US4705401A (en) * | 1985-08-12 | 1987-11-10 | Cyberware Laboratory Inc. | Rapid three-dimensional surface digitizer |
US4737032A (en) * | 1985-08-26 | 1988-04-12 | Cyberware Laboratory, Inc. | Surface mensuration sensor |
US4803645A (en) * | 1985-09-19 | 1989-02-07 | Tokyo Kogaku Kikai Kabushiki Kaisha | Method and apparatus for measuring coordinates |
US4709156A (en) * | 1985-11-27 | 1987-11-24 | Ex-Cell-O Corporation | Method and apparatus for inspecting a surface |
US4794262A (en) * | 1985-12-03 | 1988-12-27 | Yukio Sato | Method and apparatus for measuring profile of three-dimensional object |
US4821200A (en) * | 1986-04-14 | 1989-04-11 | Jonkopings Lans Landsting | Method and apparatus for manufacturing a modified, three-dimensional reproduction of a soft, deformable object |
US4822163A (en) * | 1986-06-26 | 1989-04-18 | Robotic Vision Systems, Inc. | Tracking vision sensor |
US4767934A (en) * | 1986-07-02 | 1988-08-30 | Honeywell Inc. | Active ranging system |
US4733969A (en) * | 1986-09-08 | 1988-03-29 | Cyberoptics Corporation | Laser probe for determining distance |
US4761072A (en) * | 1986-09-30 | 1988-08-02 | Diffracto Ltd. | Electro-optical sensors for manual control |
US4764015A (en) * | 1986-12-31 | 1988-08-16 | Owens-Illinois Television Products Inc. | Method and apparatus for non-contact spatial measurement |
US4825091A (en) * | 1987-02-05 | 1989-04-25 | Carl-Zeiss-Stiftung | Optoelectronic distance sensor with visible pilot beam |
US4745290A (en) * | 1987-03-19 | 1988-05-17 | David Frankel | Method and apparatus for use in making custom shoes |
US4836778A (en) * | 1987-05-26 | 1989-06-06 | Vexcel Corporation | Mandibular motion monitoring system |
US4829373A (en) * | 1987-08-03 | 1989-05-09 | Vexcel Corporation | Stereo mensuration apparatus |
US4982188A (en) * | 1988-09-20 | 1991-01-01 | Grumman Aerospace Corporation | System for measuring positional characteristics of an ejected object |
Non-Patent Citations (11)
Title |
---|
A.M. Coblentz, Robin E. Herron, Biostereometrics 85, 3 6 Dec. 1985 Stereometric Measurement System for Quantification of Object Forms, P.Fischer, F.Mesqui, F.Kaeser. * |
A.M. Coblentz, Robin E. Herron, Biostereometrics '85, 3-6 Dec. 1985 Stereometric Measurement System for Quantification of Object Forms, P.Fischer, F.Mesqui, F.Kaeser. |
F. Mesqui, F.Kaeser, P.Fischer, Real Time, Noninvasive Recording & Three Dimensional Display of the Functional Movements of an Arbitrary Mandible Point, SPIE vol. 602 Biostereometrics, Dec. 1985. * |
F. Mesqui, F.Kaeser, P.Fischer, Real-Time, Noninvasive Recording & Three-Dimensional Display of the Functional Movements of an Arbitrary Mandible Point, SPIE vol. 602 Biostereometrics, Dec. 1985. |
Henry Fuchs, Joe W. Duran, Brian W. Johnson, Zvi. M. kedem, Acquisition & Modeling of Human Body Form Data, SPIE vol. 166, Jul. 1978. * |
Robert P. Burton, Ivan E. Sutherland, Twinkle Box A Three Dimensional Computer Input Device, May 6 10, 1974, AFIPS Conference Proceedings vol. 43. * |
Robert P. Burton, Ivan E. Sutherland, Twinkle Box-A Three Dimensional Computer Input Device, May 6-10, 1974, AFIPS Conference Proceedings vol. 43. |
V. Macellari, CoSTEL:a Computer Peripheral Remote Sension Device for 3 Dimensional Monitoring of Human Motion, May, 1983. * |
V. Macellari, CoSTEL:a Computer Peripheral Remote Sension Device for 3-Dimensional Monitoring of Human Motion, May, 1983. |
Yasuo Yamashita, Three dimensional Stereometric Measurement System Using Optical Scanners, Cylindrical Lenses, & Line Sensors, SPIE 361, Aug. 1982. * |
Yasuo Yamashita, Three-dimensional Stereometric Measurement System Using Optical Scanners, Cylindrical Lenses, & Line Sensors, SPIE 361, Aug. 1982. |
Cited By (308)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USRE43952E1 (en) | 1989-10-05 | 2013-01-29 | Medtronic Navigation, Inc. | Interactive system for local intervention inside a non-homogeneous structure |
US6165181A (en) | 1992-04-21 | 2000-12-26 | Sofamor Danek Holdings, Inc. | Apparatus and method for photogrammetric surgical localization |
US6146390A (en) | 1992-04-21 | 2000-11-14 | Sofamor Danek Holdings, Inc. | Apparatus and method for photogrammetric surgical localization |
US6491702B2 (en) | 1992-04-21 | 2002-12-10 | Sofamor Danek Holdings, Inc. | Apparatus and method for photogrammetric surgical localization |
US8200314B2 (en) | 1992-08-14 | 2012-06-12 | British Telecommunications Public Limited Company | Surgical navigation |
US8473026B2 (en) | 1994-09-15 | 2013-06-25 | Ge Medical Systems Global Technology Company | System for monitoring a position of a medical instrument with respect to a patient's body |
USRE40852E1 (en) | 1995-06-14 | 2009-07-14 | Medtronic Navigation, Inc. | Method and system for navigating a catheter probe |
USRE43750E1 (en) | 1995-06-14 | 2012-10-16 | Medtronic Navigation, Inc. | Method for navigating a catheter probe |
US6374198B1 (en) * | 1996-07-11 | 2002-04-16 | Mirai S.R.L. | Method for the creation of tridimensional numerical models |
US6222582B1 (en) * | 1997-07-24 | 2001-04-24 | Sumitomo Metal (Smi) Electronics Devices Inc. | Image capture system |
US6296613B1 (en) | 1997-08-22 | 2001-10-02 | Synthes (U.S.A.) | 3D ultrasound recording device |
USRE44305E1 (en) | 1997-09-24 | 2013-06-18 | Medtronic Navigation, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
US6226548B1 (en) | 1997-09-24 | 2001-05-01 | Surgical Navigation Technologies, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
USRE39133E1 (en) * | 1997-09-24 | 2006-06-13 | Surgical Navigation Technologies, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
USRE45509E1 (en) | 1997-09-24 | 2015-05-05 | Medtronic Navigation, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
USRE42194E1 (en) | 1997-09-24 | 2011-03-01 | Medtronic Navigation, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
USRE42226E1 (en) | 1997-09-24 | 2011-03-15 | Medtronic Navigation, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
USRE46422E1 (en) | 1997-11-20 | 2017-06-06 | Medtronic Navigation, Inc. | Image guided awl/tap/screwdriver |
USRE46409E1 (en) | 1997-11-20 | 2017-05-23 | Medtronic Navigation, Inc. | Image guided awl/tap/screwdriver |
USRE43328E1 (en) | 1997-11-20 | 2012-04-24 | Medtronic Navigation, Inc | Image guided awl/tap/screwdriver |
US6324296B1 (en) * | 1997-12-04 | 2001-11-27 | Phasespace, Inc. | Distributed-processing motion tracking system for tracking individually modulated light points |
US7763035B2 (en) | 1997-12-12 | 2010-07-27 | Medtronic Navigation, Inc. | Image guided spinal surgery guide, system and method for use thereof |
US8105339B2 (en) | 1997-12-12 | 2012-01-31 | Sofamor Danek Holdings, Inc. | Image guided spinal surgery guide system and method for use thereof |
US8452375B2 (en) | 1998-05-14 | 2013-05-28 | Varian Medical Systems, Inc. | Systems and methods for locating and defining a target location within a human body |
US6363940B1 (en) | 1998-05-14 | 2002-04-02 | Calypso Medical Technologies, Inc. | System and method for bracketing and removing tissue |
US20010018594A1 (en) * | 1998-05-14 | 2001-08-30 | Calypso Medical, Inc. | System and Method for Bracketing and Removing Tissue |
US20050059884A1 (en) * | 1998-05-14 | 2005-03-17 | Calypso Medical Technologies, Inc. | System and method for bracketing and removing tissue |
US6918919B2 (en) | 1998-05-14 | 2005-07-19 | Calypso Medical Technologies, Inc. | System and method for bracketing and removing tissue |
US6694168B2 (en) | 1998-06-22 | 2004-02-17 | Synthes (U.S.A.) | Fiducial matching using fiducial implants |
US6370224B1 (en) | 1998-06-29 | 2002-04-09 | Sofamor Danek Group, Inc. | System and methods for the reduction and elimination of image artifacts in the calibration of x-ray imagers |
US7065462B2 (en) | 1998-07-24 | 2006-06-20 | Merilab, Inc. | Vehicle wheel alignment by rotating vision sensor |
US20040039544A1 (en) * | 1998-07-24 | 2004-02-26 | Merrill M. Stanley | Vehicle wheel alignment by rotating vision sensor |
US20050105772A1 (en) * | 1998-08-10 | 2005-05-19 | Nestor Voronka | Optical body tracker |
US8768437B2 (en) | 1998-08-20 | 2014-07-01 | Sofamor Danek Holdings, Inc. | Fluoroscopic image guided surgery system with intraoperative registration |
US6611141B1 (en) | 1998-12-23 | 2003-08-26 | Howmedica Leibinger Inc | Hybrid 3-D probe tracked by multiple sensors |
US6271918B2 (en) * | 1999-02-04 | 2001-08-07 | National Research Council Of Canada | Virtual multiple aperture 3-D range sensor |
US20010038705A1 (en) * | 1999-03-08 | 2001-11-08 | Orametrix, Inc. | Scanning system and calibration method for capturing precise three-dimensional information of objects |
US7068825B2 (en) | 1999-03-08 | 2006-06-27 | Orametrix, Inc. | Scanning system and calibration method for capturing precise three-dimensional information of objects |
US6725082B2 (en) | 1999-03-17 | 2004-04-20 | Synthes U.S.A. | System and method for ligament graft placement |
US7996064B2 (en) | 1999-03-23 | 2011-08-09 | Medtronic Navigation, Inc. | System and method for placing and determining an appropriately sized surgical implant |
US6493095B1 (en) | 1999-04-13 | 2002-12-10 | Inspeck Inc. | Optional 3D digitizer, system and method for digitizing an object |
US8845655B2 (en) | 1999-04-20 | 2014-09-30 | Medtronic Navigation, Inc. | Instrument guide system |
US6585651B2 (en) | 1999-04-20 | 2003-07-01 | Synthes Ag Chur | Method and device for percutaneous determination of points associated with the surface of an organ |
US20020109705A1 (en) * | 1999-05-03 | 2002-08-15 | Robert Hofstetter | System and method for preparing an image corrected for the presence of a gravity induced distortion |
US6801637B2 (en) | 1999-08-10 | 2004-10-05 | Cybernet Systems Corporation | Optical body tracker |
US20030078003A1 (en) * | 1999-10-28 | 2003-04-24 | Hunter Mark W. | Surgical communication and power system |
US6379302B1 (en) | 1999-10-28 | 2002-04-30 | Surgical Navigation Technologies Inc. | Navigation information overlay onto ultrasound imagery |
US11331150B2 (en) | 1999-10-28 | 2022-05-17 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US7797032B2 (en) | 1999-10-28 | 2010-09-14 | Medtronic Navigation, Inc. | Method and system for navigating a catheter probe in the presence of field-influencing objects |
US7657300B2 (en) | 1999-10-28 | 2010-02-02 | Medtronic Navigation, Inc. | Registration of human anatomy integrated for electromagnetic localization |
US6235038B1 (en) | 1999-10-28 | 2001-05-22 | Medtronic Surgical Navigation Technologies | System for translation of electromagnetic and optical localization systems |
US8548565B2 (en) | 1999-10-28 | 2013-10-01 | Medtronic Navigation, Inc. | Registration of human anatomy integrated for electromagnetic localization |
US8644907B2 (en) | 1999-10-28 | 2014-02-04 | Medtronic Navigaton, Inc. | Method and apparatus for surgical navigation |
US8290572B2 (en) | 1999-10-28 | 2012-10-16 | Medtronic Navigation, Inc. | Method and system for navigating a catheter probe in the presence of field-influencing objects |
US6499488B1 (en) | 1999-10-28 | 2002-12-31 | Winchester Development Associates | Surgical sensor |
US9504530B2 (en) | 1999-10-28 | 2016-11-29 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US6474341B1 (en) | 1999-10-28 | 2002-11-05 | Surgical Navigation Technologies, Inc. | Surgical communication and power system |
US6381485B1 (en) | 1999-10-28 | 2002-04-30 | Surgical Navigation Technologies, Inc. | Registration of human anatomy integrated for electromagnetic localization |
US6669635B2 (en) | 1999-10-28 | 2003-12-30 | Surgical Navigation Technologies, Inc. | Navigation information overlay onto ultrasound imagery |
US6402762B2 (en) | 1999-10-28 | 2002-06-11 | Surgical Navigation Technologies, Inc. | System for translation of electromagnetic and optical localization systems |
US8057407B2 (en) | 1999-10-28 | 2011-11-15 | Medtronic Navigation, Inc. | Surgical sensor |
US7152608B2 (en) | 1999-10-28 | 2006-12-26 | Surgical Navigation Technologies, Inc. | Surgical communication and power system |
US8074662B2 (en) | 1999-10-28 | 2011-12-13 | Medtronic Navigation, Inc. | Surgical communication and power system |
US7725162B2 (en) | 2000-01-27 | 2010-05-25 | Howmedica Leibinger Inc. | Surgery system |
US6888640B2 (en) | 2000-02-04 | 2005-05-03 | Mario J. Spina | Body spatial dimension mapper |
US7881770B2 (en) | 2000-03-01 | 2011-02-01 | Medtronic Navigation, Inc. | Multiple cannula image guided tool for image guided procedures |
US10898153B2 (en) | 2000-03-01 | 2021-01-26 | Medtronic Navigation, Inc. | Multiple cannula image guided tool for image guided procedures |
US6725080B2 (en) | 2000-03-01 | 2004-04-20 | Surgical Navigation Technologies, Inc. | Multiple cannula image guided tool for image guided procedures |
US6497134B1 (en) | 2000-03-15 | 2002-12-24 | Image Guided Technologies, Inc. | Calibration of an instrument |
US20050143645A1 (en) * | 2000-04-05 | 2005-06-30 | Stefan Vilsmeier | Referencing or registering a patient or a patient body part in a medical navigation system by means of irradiation of light points |
US7577474B2 (en) * | 2000-04-05 | 2009-08-18 | Brainlab Ag | Referencing or registering a patient or a patient body part in a medical navigation system by means of irradiation of light points |
US7853305B2 (en) | 2000-04-07 | 2010-12-14 | Medtronic Navigation, Inc. | Trajectory storage apparatus and method for surgical navigation systems |
US8634897B2 (en) | 2000-04-07 | 2014-01-21 | Medtronic Navigation, Inc. | Trajectory storage apparatus and method for surgical navigation systems |
WO2001084479A1 (en) * | 2000-04-28 | 2001-11-08 | Orametirix, Inc. | Method and system for scanning a surface and generating a three-dimensional object |
US7027642B2 (en) | 2000-04-28 | 2006-04-11 | Orametrix, Inc. | Methods for registration of three-dimensional frames to create three-dimensional virtual models of objects |
US6744914B1 (en) | 2000-04-28 | 2004-06-01 | Orametrix, Inc. | Method and system for generating a three-dimensional object |
US6771809B1 (en) | 2000-04-28 | 2004-08-03 | Orametrix, Inc. | Method and system for registering data |
US7068836B1 (en) | 2000-04-28 | 2006-06-27 | Orametrix, Inc. | System and method for mapping a surface |
US6532299B1 (en) | 2000-04-28 | 2003-03-11 | Orametrix, Inc. | System and method for mapping a surface |
US6744932B1 (en) | 2000-04-28 | 2004-06-01 | Orametrix, Inc. | System and method for mapping a surface |
US6728423B1 (en) | 2000-04-28 | 2004-04-27 | Orametrix, Inc. | System and method for mapping a surface |
US20020006217A1 (en) * | 2000-04-28 | 2002-01-17 | Orametrix, Inc. | Methods for registration of three-dimensional frames to create three-dimensional virtual models of objects |
US6413084B1 (en) | 2000-04-28 | 2002-07-02 | Ora Metrix, Inc. | Method and system of scanning |
US6564086B2 (en) * | 2000-05-03 | 2003-05-13 | Rocky Mountain Biosystems, Inc. | Prosthesis and method of making |
US7831082B2 (en) | 2000-06-14 | 2010-11-09 | Medtronic Navigation, Inc. | System and method for image based sensor calibration |
US8320653B2 (en) | 2000-06-14 | 2012-11-27 | Medtronic Navigation, Inc. | System and method for image based sensor calibration |
US6724947B1 (en) | 2000-07-14 | 2004-04-20 | International Business Machines Corporation | Method and system for measuring characteristics of curved features |
US6911972B2 (en) * | 2001-04-04 | 2005-06-28 | Matsushita Electric Industrial Co., Ltd. | User interface device |
US9675424B2 (en) | 2001-06-04 | 2017-06-13 | Surgical Navigation Technologies, Inc. | Method for calibrating a navigation system |
US20050261570A1 (en) * | 2001-06-08 | 2005-11-24 | Mate Timothy P | Guided radiation therapy system |
US7657301B2 (en) | 2001-06-08 | 2010-02-02 | Calypso Medical Technologies, Inc. | Guided radiation therapy system |
US7657303B2 (en) | 2001-06-08 | 2010-02-02 | Calypso Medical Technologies, Inc. | Guided radiation therapy system |
US7657302B2 (en) | 2001-06-08 | 2010-02-02 | Calypso Medical Technologies, Inc. | Guided radiation therapy system |
US20040133101A1 (en) * | 2001-06-08 | 2004-07-08 | Mate Timothy P. | Guided radiation therapy system |
US9072895B2 (en) | 2001-06-08 | 2015-07-07 | Varian Medical Systems, Inc. | Guided radiation therapy system |
US20040184040A1 (en) * | 2001-07-17 | 2004-09-23 | Hideto Fujita | Shape measuring device |
US6732030B2 (en) | 2001-08-18 | 2004-05-04 | Snap-On U.K. Holdings Limited | Three-dimensional mapping systems for automotive vehicles and other articles |
US7135978B2 (en) | 2001-09-14 | 2006-11-14 | Calypso Medical Technologies, Inc. | Miniature resonating marker assembly |
US20030052785A1 (en) * | 2001-09-14 | 2003-03-20 | Margo Gisselberg | Miniature resonating marker assembly |
US20070057794A1 (en) * | 2001-09-14 | 2007-03-15 | Calypso Medical Technologies, Inc. | Miniature resonating marker assembly |
US20050195084A1 (en) * | 2001-12-20 | 2005-09-08 | Calypso Medical Technologies, Inc. | System for spatially adjustable excitation of leadless miniature marker |
US7696876B2 (en) | 2001-12-20 | 2010-04-13 | Calypso Medical Technologies, Inc. | System for spatially adjustable excitation of leadless miniature marker |
US7176798B2 (en) | 2001-12-20 | 2007-02-13 | Calypso Medical Technologies, Inc. | System for spatially adjustable excitation of leadless miniature marker |
US6838990B2 (en) | 2001-12-20 | 2005-01-04 | Calypso Medical Technologies, Inc. | System for excitation leadless miniature marker |
US6812842B2 (en) | 2001-12-20 | 2004-11-02 | Calypso Medical Technologies, Inc. | System for excitation of a leadless miniature marker |
US6822570B2 (en) | 2001-12-20 | 2004-11-23 | Calypso Medical Technologies, Inc. | System for spatially adjustable excitation of leadless miniature marker |
US9757087B2 (en) | 2002-02-28 | 2017-09-12 | Medtronic Navigation, Inc. | Method and apparatus for perspective inversion |
US8838199B2 (en) | 2002-04-04 | 2014-09-16 | Medtronic Navigation, Inc. | Method and apparatus for virtual digital subtraction angiography |
US8696685B2 (en) | 2002-04-17 | 2014-04-15 | Covidien Lp | Endoscope structures and techniques for navigating to a target in branched structure |
US9642514B2 (en) | 2002-04-17 | 2017-05-09 | Covidien Lp | Endoscope structures and techniques for navigating to a target in a branched structure |
US8696548B2 (en) | 2002-04-17 | 2014-04-15 | Covidien Lp | Endoscope structures and techniques for navigating to a target in branched structure |
US10743748B2 (en) | 2002-04-17 | 2020-08-18 | Covidien Lp | Endoscope structures and techniques for navigating to a target in branched structure |
US9682253B2 (en) | 2002-06-05 | 2017-06-20 | Varian Medical Systems, Inc. | Integrated radiation therapy systems and methods for treating a target in a patient |
US20060074301A1 (en) * | 2002-06-05 | 2006-04-06 | Eric Meier | Integrated radiation therapy systems and methods for treating a target in a patient |
US9616248B2 (en) | 2002-06-05 | 2017-04-11 | Varian Medical Systems, Inc. | Integrated radiation therapy systems and methods for treating a target in a patient |
US20040147839A1 (en) * | 2002-10-25 | 2004-07-29 | Moctezuma De La Barrera Jose Luis | Flexible tracking article and method of using the same |
US20110077510A1 (en) * | 2002-10-25 | 2011-03-31 | Jose Luis Moctezuma De La Barrera | Flexible Tracking Article And Method Of Using The Same |
US8457719B2 (en) | 2002-10-25 | 2013-06-04 | Stryker Corporation | Flexible tracking article and method of using the same |
US7869861B2 (en) | 2002-10-25 | 2011-01-11 | Howmedica Leibinger Inc. | Flexible tracking article and method of using the same |
US8467853B2 (en) | 2002-11-19 | 2013-06-18 | Medtronic Navigation, Inc. | Navigation system for cardiac therapies |
US8046052B2 (en) | 2002-11-19 | 2011-10-25 | Medtronic Navigation, Inc. | Navigation system for cardiac therapies |
US7697972B2 (en) | 2002-11-19 | 2010-04-13 | Medtronic Navigation, Inc. | Navigation system for cardiac therapies |
US8401616B2 (en) | 2002-11-19 | 2013-03-19 | Medtronic Navigation, Inc. | Navigation system for cardiac therapies |
US8060185B2 (en) | 2002-11-19 | 2011-11-15 | Medtronic Navigation, Inc. | Navigation system for cardiac therapies |
US6889833B2 (en) | 2002-12-30 | 2005-05-10 | Calypso Medical Technologies, Inc. | Packaged systems for implanting markers in a patient and methods for manufacturing and using such systems |
US8297030B2 (en) | 2002-12-30 | 2012-10-30 | Varian Medical Systems, Inc. | Methods for manufacturing packaged systems for implanting markers in a patient |
US8011508B2 (en) | 2002-12-30 | 2011-09-06 | Calypso Medical Technologies, Inc. | Packaged systems for implanting markers in a patient and methods for manufacturing and using such systems |
US8857043B2 (en) | 2002-12-30 | 2014-10-14 | Varian Medical Systems, Inc. | Method of manufacturing an implantable marker with a leadless signal transmitter |
US7407054B2 (en) | 2002-12-30 | 2008-08-05 | Calypso Medical Technologies, Inc. | Packaged systems for implanting markers in a patient and methods for manufacturing and using such systems |
US7289839B2 (en) | 2002-12-30 | 2007-10-30 | Calypso Medical Technologies, Inc. | Implantable marker with a leadless signal transmitter compatible for use in magnetic resonance devices |
US20080021308A1 (en) * | 2002-12-30 | 2008-01-24 | Calypso Medical Technologies, Inc. | Implantable Marker with a Leadless Signal Transmitter Compatible for Use in Magnetic Resonance Devices |
US20050205445A1 (en) * | 2002-12-30 | 2005-09-22 | Calypso Medical Technologies, Inc. | Packaged systems for implanting markers in a patient and methods for manufacturing and using such systems |
US7778687B2 (en) | 2002-12-30 | 2010-08-17 | Calypso Medical Technologies, Inc. | Implantable marker with a leadless signal transmitter compatible for use in magnetic resonance devices |
US20040127787A1 (en) * | 2002-12-30 | 2004-07-01 | Dimmer Steven C. | Implantable marker with a leadless signal transmitter compatible for use in magnetic resonance devices |
US20040138554A1 (en) * | 2002-12-30 | 2004-07-15 | Dimmer Steven C. | Implantable marker with a leadless signal transmitter compatible for use in magnetic resonance devices |
US7142312B2 (en) | 2002-12-31 | 2006-11-28 | D4D Technologies, Llc | Laser digitizer system for dental applications |
US9867721B2 (en) | 2003-01-30 | 2018-01-16 | Medtronic Navigation, Inc. | Method and apparatus for post-operative tuning of a spinal implant |
US7974677B2 (en) | 2003-01-30 | 2011-07-05 | Medtronic Navigation, Inc. | Method and apparatus for preplanning a surgical procedure |
US7660623B2 (en) | 2003-01-30 | 2010-02-09 | Medtronic Navigation, Inc. | Six degree of freedom alignment display for medical procedures |
US11707363B2 (en) | 2003-01-30 | 2023-07-25 | Medtronic Navigation, Inc. | Method and apparatus for post-operative tuning of a spinal implant |
US11684491B2 (en) | 2003-01-30 | 2023-06-27 | Medtronic Navigation, Inc. | Method and apparatus for post-operative tuning of a spinal implant |
US7184150B2 (en) | 2003-03-24 | 2007-02-27 | D4D Technologies, Llc | Laser digitizer system for dental applications |
US20050020910A1 (en) * | 2003-04-30 | 2005-01-27 | Henley Quadling | Intra-oral imaging system |
US20050024646A1 (en) * | 2003-05-05 | 2005-02-03 | Mark Quadling | Optical coherence tomography imaging |
US7355721B2 (en) | 2003-05-05 | 2008-04-08 | D4D Technologies, Llc | Optical coherence tomography imaging |
US7925328B2 (en) | 2003-08-28 | 2011-04-12 | Medtronic Navigation, Inc. | Method and apparatus for performing stereotactic surgery |
US8663088B2 (en) | 2003-09-15 | 2014-03-04 | Covidien Lp | System of accessories for use with bronchoscopes |
US10383509B2 (en) | 2003-09-15 | 2019-08-20 | Covidien Lp | System of accessories for use with bronchoscopes |
US9089261B2 (en) | 2003-09-15 | 2015-07-28 | Covidien Lp | System of accessories for use with bronchoscopes |
US7342668B2 (en) | 2003-09-17 | 2008-03-11 | D4D Technologies, Llc | High speed multiple line three-dimensional digitalization |
US20050099638A1 (en) * | 2003-09-17 | 2005-05-12 | Mark Quadling | High speed multiple line three-dimensional digitization |
US8706185B2 (en) | 2003-10-16 | 2014-04-22 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation of a multiple piece construct for implantation |
US7835778B2 (en) | 2003-10-16 | 2010-11-16 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation of a multiple piece construct for implantation |
US8549732B2 (en) | 2003-10-17 | 2013-10-08 | Medtronic Navigation, Inc. | Method of forming an electromagnetic sensing coil in a medical instrument |
US7751865B2 (en) | 2003-10-17 | 2010-07-06 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US8239001B2 (en) | 2003-10-17 | 2012-08-07 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US7840253B2 (en) | 2003-10-17 | 2010-11-23 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US8271069B2 (en) | 2003-10-17 | 2012-09-18 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US7971341B2 (en) | 2003-10-17 | 2011-07-05 | Medtronic Navigation, Inc. | Method of forming an electromagnetic sensing coil in a medical instrument for a surgical navigation system |
US7818044B2 (en) | 2003-10-17 | 2010-10-19 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
US8359730B2 (en) | 2003-10-17 | 2013-01-29 | Medtronic Navigation, Inc. | Method of forming an electromagnetic sensing coil in a medical instrument |
US7376492B2 (en) | 2003-12-04 | 2008-05-20 | Matrix Electronic Measuring, L.P. | System for measuring points on a vehicle during damage repair |
US7120524B2 (en) | 2003-12-04 | 2006-10-10 | Matrix Electronic Measuring, L.P. | System for measuring points on a vehicle during damage repair |
US20050125119A1 (en) * | 2003-12-04 | 2005-06-09 | Matrix Electronic Measuring, L.P. Limited Partnership, Kansas | System for measuring points on a vehicle during damage repair |
US20050131586A1 (en) * | 2003-12-04 | 2005-06-16 | Srack Robert W. | System for measuring points on a vehicle during damage repair |
US8196589B2 (en) | 2003-12-24 | 2012-06-12 | Calypso Medical Technologies, Inc. | Implantable marker with wireless signal transmitter |
US20050154293A1 (en) * | 2003-12-24 | 2005-07-14 | Margo Gisselberg | Implantable marker with wireless signal transmitter |
US8764725B2 (en) | 2004-02-09 | 2014-07-01 | Covidien Lp | Directional anchoring mechanism, method and applications thereof |
US7998062B2 (en) | 2004-03-29 | 2011-08-16 | Superdimension, Ltd. | Endoscope structures and techniques for navigating to a target in branched structure |
US9055881B2 (en) | 2004-04-26 | 2015-06-16 | Super Dimension Ltd. | System and method for image-based alignment of an endoscope |
US10321803B2 (en) | 2004-04-26 | 2019-06-18 | Covidien Lp | System and method for image-based alignment of an endoscope |
US7953471B2 (en) | 2004-05-03 | 2011-05-31 | Medtronic Navigation, Inc. | Method and apparatus for implantation between two vertebral bodies |
US20060001543A1 (en) * | 2004-07-01 | 2006-01-05 | Ramesh Raskar | Interactive wireless tag location and identification system |
US7154395B2 (en) * | 2004-07-01 | 2006-12-26 | Mitsubishi Electric Research Laboratories, Inc. | Interactive wireless tag location and identification system |
US8340742B2 (en) | 2004-07-23 | 2012-12-25 | Varian Medical Systems, Inc. | Integrated radiation therapy systems and methods for treating a target in a patient |
US20060058648A1 (en) * | 2004-07-23 | 2006-03-16 | Eric Meier | Integrated radiation therapy systems and methods for treating a target in a patient |
US20060074302A1 (en) * | 2004-07-23 | 2006-04-06 | Eric Meier | Integrated radiation therapy systems and methods for treating a target in a patient |
US8244330B2 (en) | 2004-07-23 | 2012-08-14 | Varian Medical Systems, Inc. | Integrated radiation therapy systems and methods for treating a target in a patient |
US8290570B2 (en) | 2004-09-10 | 2012-10-16 | Stryker Leibinger Gmbh & Co., Kg | System for ad hoc tracking of an object |
US20060058644A1 (en) * | 2004-09-10 | 2006-03-16 | Harald Hoppe | System, device, and method for AD HOC tracking of an object |
US7447558B2 (en) | 2004-09-18 | 2008-11-04 | The Ohio Willow Wood Company | Apparatus for determining a three dimensional shape of an object |
US20060062449A1 (en) * | 2004-09-18 | 2006-03-23 | The Ohio Willow Wood Company | Apparatus for determining a three dimensional shape of an object |
US8007448B2 (en) | 2004-10-08 | 2011-08-30 | Stryker Leibinger Gmbh & Co. Kg. | System and method for performing arthroplasty of a joint and tracking a plumb line plane |
US20060095047A1 (en) * | 2004-10-08 | 2006-05-04 | De La Barrera Jose Luis M | System and method for performing arthroplasty of a joint and tracking a plumb line plane |
US8280490B2 (en) * | 2004-12-02 | 2012-10-02 | Siemens Aktiengesellschaft | Registration aid for medical images |
US20060184014A1 (en) * | 2004-12-02 | 2006-08-17 | Manfred Pfeiler | Registration aid for medical images |
US8467851B2 (en) | 2005-09-21 | 2013-06-18 | Medtronic Navigation, Inc. | Method and apparatus for positioning a reference frame |
US7835784B2 (en) | 2005-09-21 | 2010-11-16 | Medtronic Navigation, Inc. | Method and apparatus for positioning a reference frame |
US9168102B2 (en) | 2006-01-18 | 2015-10-27 | Medtronic Navigation, Inc. | Method and apparatus for providing a container to a sterile environment |
US10597178B2 (en) | 2006-01-18 | 2020-03-24 | Medtronic Navigation, Inc. | Method and apparatus for providing a container to a sterile environment |
US8112292B2 (en) | 2006-04-21 | 2012-02-07 | Medtronic Navigation, Inc. | Method and apparatus for optimizing a therapy |
US11857265B2 (en) | 2006-06-16 | 2024-01-02 | Board Of Regents Of The University Of Nebraska | Method and apparatus for computer aided surgery |
US20080077158A1 (en) * | 2006-06-16 | 2008-03-27 | Hani Haider | Method and Apparatus for Computer Aided Surgery |
US11116574B2 (en) | 2006-06-16 | 2021-09-14 | Board Of Regents Of The University Of Nebraska | Method and apparatus for computer aided surgery |
US20080049972A1 (en) * | 2006-07-07 | 2008-02-28 | Lockheed Martin Corporation | Mail imaging system with secondary illumination/imaging window |
US20080035866A1 (en) * | 2006-07-07 | 2008-02-14 | Lockheed Martin Corporation | Mail imaging system with UV illumination interrupt |
US20080012981A1 (en) * | 2006-07-07 | 2008-01-17 | Goodwin Mark D | Mail processing system with dual camera assembly |
US8660635B2 (en) | 2006-09-29 | 2014-02-25 | Medtronic, Inc. | Method and apparatus for optimizing a computer assisted surgical procedure |
US9597154B2 (en) | 2006-09-29 | 2017-03-21 | Medtronic, Inc. | Method and apparatus for optimizing a computer assisted surgical procedure |
US7336375B1 (en) | 2006-10-04 | 2008-02-26 | Ivan Faul | Wireless methods and systems for three-dimensional non-contact shape sensing |
US7256899B1 (en) | 2006-10-04 | 2007-08-14 | Ivan Faul | Wireless methods and systems for three-dimensional non-contact shape sensing |
US20100141740A1 (en) * | 2007-05-04 | 2010-06-10 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung Ev | Device and Method for Non-Contact Recording of Spatial Coordinates of a Surface |
US8791997B2 (en) * | 2007-05-04 | 2014-07-29 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Device and method for non-contact recording of spatial coordinates of a surface |
US8382765B2 (en) | 2007-08-07 | 2013-02-26 | Stryker Leibinger Gmbh & Co. Kg. | Method of and system for planning a surgery |
US20090043556A1 (en) * | 2007-08-07 | 2009-02-12 | Axelson Stuart L | Method of and system for planning a surgery |
US8617174B2 (en) | 2007-08-07 | 2013-12-31 | Stryker Leibinger Gmbh & Co. Kg | Method of virtually planning a size and position of a prosthetic implant |
US8617173B2 (en) | 2007-08-07 | 2013-12-31 | Stryker Leibinger Gmbh & Co. Kg | System for assessing a fit of a femoral implant |
US9986895B2 (en) | 2007-09-27 | 2018-06-05 | Covidien Lp | Bronchoscope adapter and method |
US8905920B2 (en) | 2007-09-27 | 2014-12-09 | Covidien Lp | Bronchoscope adapter and method |
US9668639B2 (en) | 2007-09-27 | 2017-06-06 | Covidien Lp | Bronchoscope adapter and method |
US10980400B2 (en) | 2007-09-27 | 2021-04-20 | Covidien Lp | Bronchoscope adapter and method |
US10390686B2 (en) | 2007-09-27 | 2019-08-27 | Covidien Lp | Bronchoscope adapter and method |
US9575140B2 (en) | 2008-04-03 | 2017-02-21 | Covidien Lp | Magnetic interference detection system and method |
US9449378B2 (en) | 2008-05-22 | 2016-09-20 | Matrix Electronic Measuring Properties, Llc | System and method for processing stereoscopic vehicle information |
US9454822B2 (en) | 2008-05-22 | 2016-09-27 | Matrix Electronic Measuring Properties, Llc | Stereoscopic measurement system and method |
US9482515B2 (en) | 2008-05-22 | 2016-11-01 | Matrix Electronic Measuring Properties, Llc | Stereoscopic measurement system and method |
US20090290759A1 (en) * | 2008-05-22 | 2009-11-26 | Matrix Electronic Measuring, L.P. | Stereoscopic measurement system and method |
US20090290787A1 (en) * | 2008-05-22 | 2009-11-26 | Matrix Electronic Measuring, L.P. | Stereoscopic measurement system and method |
US8345953B2 (en) | 2008-05-22 | 2013-01-01 | Matrix Electronic Measuring Properties, Llc | Stereoscopic measurement system and method |
US9286506B2 (en) | 2008-05-22 | 2016-03-15 | Matrix Electronic Measuring Properties, Llc | Stereoscopic measurement system and method |
US8326022B2 (en) | 2008-05-22 | 2012-12-04 | Matrix Electronic Measuring Properties, Llc | Stereoscopic measurement system and method |
US8249332B2 (en) | 2008-05-22 | 2012-08-21 | Matrix Electronic Measuring Properties Llc | Stereoscopic measurement system and method |
US11074702B2 (en) | 2008-06-03 | 2021-07-27 | Covidien Lp | Feature-based registration method |
US9659374B2 (en) | 2008-06-03 | 2017-05-23 | Covidien Lp | Feature-based registration method |
US11783498B2 (en) | 2008-06-03 | 2023-10-10 | Covidien Lp | Feature-based registration method |
US8473032B2 (en) | 2008-06-03 | 2013-06-25 | Superdimension, Ltd. | Feature-based registration method |
US10096126B2 (en) | 2008-06-03 | 2018-10-09 | Covidien Lp | Feature-based registration method |
US9117258B2 (en) | 2008-06-03 | 2015-08-25 | Covidien Lp | Feature-based registration method |
US9237860B2 (en) | 2008-06-05 | 2016-01-19 | Varian Medical Systems, Inc. | Motion compensation for medical imaging and associated systems and methods |
US11931141B2 (en) | 2008-06-06 | 2024-03-19 | Covidien Lp | Hybrid registration method |
US10285623B2 (en) | 2008-06-06 | 2019-05-14 | Covidien Lp | Hybrid registration method |
US10478092B2 (en) | 2008-06-06 | 2019-11-19 | Covidien Lp | Hybrid registration method |
US9271803B2 (en) | 2008-06-06 | 2016-03-01 | Covidien Lp | Hybrid registration method |
US10674936B2 (en) | 2008-06-06 | 2020-06-09 | Covidien Lp | Hybrid registration method |
US8452068B2 (en) | 2008-06-06 | 2013-05-28 | Covidien Lp | Hybrid registration method |
US8467589B2 (en) | 2008-06-06 | 2013-06-18 | Covidien Lp | Hybrid registration method |
US10070801B2 (en) | 2008-07-10 | 2018-09-11 | Covidien Lp | Integrated multi-functional endoscopic tool |
US8932207B2 (en) | 2008-07-10 | 2015-01-13 | Covidien Lp | Integrated multi-functional endoscopic tool |
US11241164B2 (en) | 2008-07-10 | 2022-02-08 | Covidien Lp | Integrated multi-functional endoscopic tool |
US10912487B2 (en) | 2008-07-10 | 2021-02-09 | Covidien Lp | Integrated multi-function endoscopic tool |
US11234611B2 (en) | 2008-07-10 | 2022-02-01 | Covidien Lp | Integrated multi-functional endoscopic tool |
US8165658B2 (en) | 2008-09-26 | 2012-04-24 | Medtronic, Inc. | Method and apparatus for positioning a guide relative to a base |
US9453913B2 (en) | 2008-11-17 | 2016-09-27 | Faro Technologies, Inc. | Target apparatus for three-dimensional measurement system |
US9482755B2 (en) | 2008-11-17 | 2016-11-01 | Faro Technologies, Inc. | Measurement system having air temperature compensation between a target and a laser tracker |
US8175681B2 (en) | 2008-12-16 | 2012-05-08 | Medtronic Navigation Inc. | Combination of electromagnetic and electropotential localization |
US8731641B2 (en) | 2008-12-16 | 2014-05-20 | Medtronic Navigation, Inc. | Combination of electromagnetic and electropotential localization |
US8611984B2 (en) | 2009-04-08 | 2013-12-17 | Covidien Lp | Locatable catheter |
US10154798B2 (en) | 2009-04-08 | 2018-12-18 | Covidien Lp | Locatable catheter |
US9113813B2 (en) | 2009-04-08 | 2015-08-25 | Covidien Lp | Locatable catheter |
US9442362B2 (en) | 2009-07-10 | 2016-09-13 | Steropes Technologies, Llc | Method and apparatus for generating three-dimensional image information |
US9298078B2 (en) | 2009-07-10 | 2016-03-29 | Steropes Technologies, Llc | Method and apparatus for generating three-dimensional image information using a single imaging path |
US8494613B2 (en) | 2009-08-31 | 2013-07-23 | Medtronic, Inc. | Combination localization system |
US8494614B2 (en) | 2009-08-31 | 2013-07-23 | Regents Of The University Of Minnesota | Combination localization system |
US9400170B2 (en) | 2010-04-21 | 2016-07-26 | Faro Technologies, Inc. | Automatic measurement of dimensional data within an acceptance region by a laser tracker |
US10480929B2 (en) | 2010-04-21 | 2019-11-19 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
US9007601B2 (en) | 2010-04-21 | 2015-04-14 | Faro Technologies, Inc. | Automatic measurement of dimensional data with a laser tracker |
US9772394B2 (en) | 2010-04-21 | 2017-09-26 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
US9377885B2 (en) | 2010-04-21 | 2016-06-28 | Faro Technologies, Inc. | Method and apparatus for locking onto a retroreflector with a laser tracker |
US10209059B2 (en) | 2010-04-21 | 2019-02-19 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
US9146094B2 (en) | 2010-04-21 | 2015-09-29 | Faro Technologies, Inc. | Automatic measurement of dimensional data with a laser tracker |
US10582834B2 (en) | 2010-06-15 | 2020-03-10 | Covidien Lp | Locatable expandable working channel and method |
US8687172B2 (en) | 2011-04-13 | 2014-04-01 | Ivan Faul | Optical digitizer with improved distance measurement capability |
US9482746B2 (en) | 2011-04-15 | 2016-11-01 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote sensor |
US9157987B2 (en) | 2011-04-15 | 2015-10-13 | Faro Technologies, Inc. | Absolute distance meter based on an undersampling method |
US9207309B2 (en) | 2011-04-15 | 2015-12-08 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote line scanner |
US10302413B2 (en) | 2011-04-15 | 2019-05-28 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote sensor |
US9151830B2 (en) | 2011-04-15 | 2015-10-06 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote structured-light scanner |
US9164173B2 (en) | 2011-04-15 | 2015-10-20 | Faro Technologies, Inc. | Laser tracker that uses a fiber-optic coupler and an achromatic launch to align and collimate two wavelengths of light |
US10219811B2 (en) | 2011-06-27 | 2019-03-05 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US10080617B2 (en) | 2011-06-27 | 2018-09-25 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US11911117B2 (en) | 2011-06-27 | 2024-02-27 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US9498231B2 (en) | 2011-06-27 | 2016-11-22 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
WO2013033811A1 (en) * | 2011-09-08 | 2013-03-14 | Front Street Investment Management Inc. | Method and apparatus for illuminating a field of view of an optical system for generating three dimensional image information |
US8662684B2 (en) | 2011-11-30 | 2014-03-04 | Izi Medical Products | Radiopaque core |
US8668342B2 (en) | 2011-11-30 | 2014-03-11 | Izi Medical Products | Material thickness control over retro-reflective marker |
US9085401B2 (en) | 2011-11-30 | 2015-07-21 | Izi Medical Products | Packaging for retro-reflective markers |
US8668344B2 (en) | 2011-11-30 | 2014-03-11 | Izi Medical Products | Marker sphere including edged opening to aid in molding |
US9964649B2 (en) | 2011-11-30 | 2018-05-08 | Izi Medical Products | Packaging for retro-reflective markers |
US8641210B2 (en) | 2011-11-30 | 2014-02-04 | Izi Medical Products | Retro-reflective marker including colored mounting portion |
US8668345B2 (en) | 2011-11-30 | 2014-03-11 | Izi Medical Products | Retro-reflective marker with snap on threaded post |
US8646921B2 (en) | 2011-11-30 | 2014-02-11 | Izi Medical Products | Reflective marker being radio-opaque for MRI |
US8668343B2 (en) | 2011-11-30 | 2014-03-11 | Izi Medical Products | Reflective marker with alignment feature |
US8651274B2 (en) | 2011-11-30 | 2014-02-18 | Izi Medical Products | Packaging for retro-reflective markers |
US8672490B2 (en) | 2011-11-30 | 2014-03-18 | Izi Medical Products | High reflectivity retro-reflective marker |
USD705678S1 (en) | 2012-02-21 | 2014-05-27 | Faro Technologies, Inc. | Laser tracker |
US8661573B2 (en) | 2012-02-29 | 2014-03-04 | Izi Medical Products | Protective cover for medical device having adhesive mechanism |
US10105149B2 (en) | 2013-03-15 | 2018-10-23 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US9041914B2 (en) | 2013-03-15 | 2015-05-26 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
US10952593B2 (en) | 2014-06-10 | 2021-03-23 | Covidien Lp | Bronchoscope adapter |
US9395174B2 (en) | 2014-06-27 | 2016-07-19 | Faro Technologies, Inc. | Determining retroreflector orientation by optimizing spatial fit |
US10426555B2 (en) | 2015-06-03 | 2019-10-01 | Covidien Lp | Medical instrument with sensor for use in a system and method for electromagnetic navigation |
US11801024B2 (en) | 2015-10-28 | 2023-10-31 | Medtronic Navigation, Inc. | Apparatus and method for maintaining image quality while minimizing x-ray dosage of a patient |
US11006914B2 (en) | 2015-10-28 | 2021-05-18 | Medtronic Navigation, Inc. | Apparatus and method for maintaining image quality while minimizing x-ray dosage of a patient |
US10478254B2 (en) | 2016-05-16 | 2019-11-19 | Covidien Lp | System and method to access lung tissue |
US11786317B2 (en) | 2016-05-16 | 2023-10-17 | Covidien Lp | System and method to access lung tissue |
US11160617B2 (en) | 2016-05-16 | 2021-11-02 | Covidien Lp | System and method to access lung tissue |
US11759264B2 (en) | 2016-10-28 | 2023-09-19 | Covidien Lp | System and method for identifying a location and/or an orientation of an electromagnetic sensor based on a map |
US11672604B2 (en) | 2016-10-28 | 2023-06-13 | Covidien Lp | System and method for generating a map for electromagnetic navigation |
US10751126B2 (en) | 2016-10-28 | 2020-08-25 | Covidien Lp | System and method for generating a map for electromagnetic navigation |
US10722311B2 (en) | 2016-10-28 | 2020-07-28 | Covidien Lp | System and method for identifying a location and/or an orientation of an electromagnetic sensor based on a map |
US10638952B2 (en) | 2016-10-28 | 2020-05-05 | Covidien Lp | Methods, systems, and computer-readable media for calibrating an electromagnetic navigation system |
US10792106B2 (en) | 2016-10-28 | 2020-10-06 | Covidien Lp | System for calibrating an electromagnetic navigation system |
US11786314B2 (en) | 2016-10-28 | 2023-10-17 | Covidien Lp | System for calibrating an electromagnetic navigation system |
US10615500B2 (en) | 2016-10-28 | 2020-04-07 | Covidien Lp | System and method for designing electromagnetic navigation antenna assemblies |
US10517505B2 (en) | 2016-10-28 | 2019-12-31 | Covidien Lp | Systems, methods, and computer-readable media for optimizing an electromagnetic navigation system |
US10446931B2 (en) | 2016-10-28 | 2019-10-15 | Covidien Lp | Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same |
US10418705B2 (en) | 2016-10-28 | 2019-09-17 | Covidien Lp | Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same |
US11219489B2 (en) | 2017-10-31 | 2022-01-11 | Covidien Lp | Devices and systems for providing sensors in parallel with medical tools |
Also Published As
Publication number | Publication date |
---|---|
EP0553266B1 (en) | 1997-05-07 |
EP0553266A4 (en) | 1993-10-20 |
JPH06501774A (en) | 1994-02-24 |
WO1992007233A1 (en) | 1992-04-30 |
CA2094039A1 (en) | 1992-04-16 |
DE69126035T2 (en) | 1997-08-14 |
DE69126035D1 (en) | 1997-06-12 |
US5198877A (en) | 1993-03-30 |
JP2974775B2 (en) | 1999-11-10 |
ATE152823T1 (en) | 1997-05-15 |
EP0553266A1 (en) | 1993-08-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
USRE35816E (en) | Method and apparatus for three-dimensional non-contact shape sensing | |
US9967545B2 (en) | System and method of acquiring three-dimensional coordinates using multiple coordinate measurment devices | |
US9927522B2 (en) | Determining positional information of an object in space | |
US6605041B2 (en) | 3-D ultrasound recording device | |
US6031606A (en) | Process and device for rapid detection of the position of a target marking | |
US6249591B1 (en) | Method and apparatus for control of robotic grip or for activating contrast-based navigation | |
US7123351B1 (en) | Method and apparatus for measuring distances using light | |
US8035823B2 (en) | Hand-held surface profiler | |
EP2105698A1 (en) | Three-dimensional coordinate measuring device | |
JP2004170412A (en) | Method and system for calibrating measuring system | |
WO1999058930A1 (en) | Structured-light, triangulation-based three-dimensional digitizer | |
GB2246044A (en) | A zoom lens for a variable depth range camera | |
US5363185A (en) | Method and apparatus for identifying three-dimensional coordinates and orientation to a robot | |
KR100901614B1 (en) | Range Finder and Method for finding range | |
EP1680689B1 (en) | Device for scanning three-dimensional objects | |
CN108226902A (en) | A kind of face battle array lidar measurement system | |
US10697754B2 (en) | Three-dimensional coordinates of two-dimensional edge lines obtained with a tracker camera | |
Guehring et al. | Data processing and calibration of a cross-pattern stripe projector | |
US6927864B2 (en) | Method and system for determining dimensions of optically recognizable features | |
Araki et al. | High speed rangefinder | |
WO1994015173A1 (en) | Scanning sensor | |
AU718579B2 (en) | Ultrasonographic 3-D imaging system | |
JPH06207812A (en) | Measurement point indicator for three-dimensional measurement | |
Marszalec et al. | A LED-array-based range-imaging sensor for fast three-dimensional shape measurements | |
Johannesson | Active Range Imaging 2 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: SILICON VALLEY BANK, CALIFORNIA Free format text: SECURITY INTEREST;ASSIGNORS:IMAGE GUIDED TECHNOLOGIES, INC., A CORPORATION OF COLORADO, F/K/A PIXSYS, INC.;SPRINGFIELD SURGICAL INSTRUMENTS, A CORPORATION OF MASSACHUSETTS, F/K/A BRIMFIELD PRECISION, INC.;REEL/FRAME:010188/0799 Effective date: 19990817 |
|
FEPP | Fee payment procedure |
Free format text: PAT HLDR NO LONGER CLAIMS SMALL ENT STAT AS SMALL BUSINESS (ORIGINAL EVENT CODE: LSM2); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY |
|
FPAY | Fee payment |
Year of fee payment: 8 |
|
SULP | Surcharge for late payment |
Year of fee payment: 7 |
|
FPAY | Fee payment |
Year of fee payment: 12 |
|
AS | Assignment |
Owner name: BMO CAPITAL CORPOORATION, CANADA Free format text: SECURITY INTEREST;ASSIGNOR:NORTHERN DIGITAL INC.;REEL/FRAME:020762/0157 Effective date: 20071221 Owner name: BMO CAPTIAL CORPORATION, CANADA Free format text: SECURITY AGREEMENT;ASSIGNOR:NORTHERN DIGITAL INC.;REEL/FRAME:020762/0131 Effective date: 20071221 Owner name: BANK OF MONTREAL, CANADA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:NORTHERN DIGITAL INC.;REEL/FRAME:020762/0109 Effective date: 20071221 Owner name: BANK OF MONTREAL, CANADA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:NORTHERN DIGITAL INC.;REEL/FRAME:020762/0082 Effective date: 20071221 |
|
AS | Assignment |
Owner name: BANK OF MONTREAL, CANADA Free format text: SECURITY INTEREST;ASSIGNOR:NORTHERN DIGITAL INC.;REEL/FRAME:020794/0239 Effective date: 20071221 |
|
AS | Assignment |
Owner name: BMO CAPITAL CORPORATION, CANADA Free format text: CORRECTION OF ASSINGEE INFORMATION FROM "BMO CAPTIAL CORPOORATION" TO "BMO CAPITAL CORPORATION";ASSIGNOR:NORTHERN DIGITAL INC.;REEL/FRAME:020828/0379 Effective date: 20071221 |
|
AS | Assignment |
Owner name: NORTHERN DIGITAL INC., CANADA Free format text: RELEASE BY SECURED PARTY;ASSIGNOR:BANK OF MONTREAL;REEL/FRAME:024946/0944 Effective date: 20100804 |
|
AS | Assignment |
Owner name: NORTHERN DIGITAL INC., CANADA Free format text: RELEASE BY SECURED PARTY;ASSIGNOR:BMO CAPITAL CORPORATION;REEL/FRAME:025000/0396 Effective date: 20100804 |