公开(公告)号：EP3072107A1

公开(公告)日：2016-09-28

申请号：EP14864704.3

申请日：2014-11-20

Applicant: Elbit Systems Ltd

Inventor： BARAK, Lior ,  KORNBILT, Ron ,  BEN-YISHAI, Rani

IPC: G06T7/00 ,  G06T7/20

CPC classification number: G01S17/66 ,  A61B34/20 ,  A61B2034/2055 ,  G01S5/163 ,  G01S17/023 ,  G01S17/875

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

Abstract translation: 本文提供光学跟踪器。 跟踪器可以包括至少两个面向至少部分彼此的光学跟踪器传感器。 每个光学跟踪器传感器可以包括：像素阵列传感器，被配置为生成表示场景的值的逐像素流; 物理耦合到所述像素阵列传感器的至少一个视觉指示器; 以及物理耦合到所述至少一个像素阵列传感器的集成电路（IC），并且被配置为：接收所述逐个像素的值流; 并且对所述流应用二进制大对象（BLOB）分析，以在代表场景的像素的单次通过中产生指示场景中存在的至少一个视觉指示符的BLOB参数; 以及计算机处理器，被配置为接收所述BLOB参数并且计算所述至少两个光学跟踪器传感器的相对位置和/或取向或其部分数据。

公开(公告)号：EP4343384A2

公开(公告)日：2024-03-27

申请号：EP24156687.6

申请日：2014-11-20

Applicant: Elbit Systems Ltd

Inventor： BARAK, Lior ,  KORNBILT, Ron ,  BEN-YISHAI, Rani

IPC: G01S17/87

Abstract: An optical tracker (100) for tracking a patient and/or a hand-held medical device relative to a head-mounted display system donned by a user, the optical tracker (100) comprising: a first optical sensor (350) coupled to at least two visual indicators (352A, 352B, 352C) and attached to the head-mounted display system (462); a second optical sensor (332) coupled to at least one visual indicator (333A, 333B, 333C) and configured to be attached to the hand-held medical device (330); a third optical sensor (342) coupled to at least one visual indicator (343A, 343B, 343C) and configured to be attached to the patient (320); wherein the first optical sensor (350), the second optical sensor (332) and the third optical sensor (342) each comprise at least one pixel array sensor (10) configured to generate a stream of pixel values representing a respective scene; and a computer processor (150); wherein the head-mounted display system (462) is configured to be donned by the user (310) in an operating room; wherein the computer processor (150) is configured to calculate a position and/or orientation, or a partial data thereof.

公开(公告)号：EP4343384A3

公开(公告)日：2024-06-12

申请号：EP24156687.6

申请日：2014-11-20

Applicant: Elbit Systems Ltd

Inventor： BARAK, Lior ,  KORNBILT, Ron ,  BEN-YISHAI, Rani

IPC: G01S5/16 ,  A61B34/20 ,  G01S17/66 ,  G01S17/87

CPC classification number: G01S5/163 ,  A61B34/20 ,  G01S17/66 ,  G01S17/875 ,  A61B2034/205520160201

Abstract: An optical tracker (100) for tracking a patient and/or a hand-held medical device relative to a head-mounted display system donned by a user, the optical tracker (100) comprising: a first optical sensor (350) coupled to at least two visual indicators (352A, 352B, 352C) and attached to the head-mounted display system (462); a second optical sensor (332) coupled to at least one visual indicator (333A, 333B, 333C) and configured to be attached to the hand-held medical device (330); a third optical sensor (342) coupled to at least one visual indicator (343A, 343B, 343C) and configured to be attached to the patient (320); wherein the first optical sensor (350), the second optical sensor (332) and the third optical sensor (342) each comprise at least one pixel array sensor (10) configured to generate a stream of pixel values representing a respective scene; and a computer processor (150); wherein the head-mounted display system (462) is configured to be donned by the user (310) in an operating room; wherein the computer processor (150) is configured to calculate a position and/or orientation, or a partial data thereof.