公开(公告)号：US10095815B2

公开(公告)日：2018-10-09

申请号：US14249463

申请日：2014-04-10

Applicant: ELBIT SYSTEMS LTD.

Inventor： Ilan Efrat ,  Evgeni Gurovich ,  Guy Mencel ,  Yoav Ophir ,  Mark Gandelsman

IPC: G06F17/50 ,  G01R33/07 ,  G01R33/10

Abstract: A system for mapping a magnetic-field in a volume-of-interest comprising a magnetic-field transmitter, generating a magnetic-field in the volume-of-interest, a freestanding magnetic-field detector operative to freely move within the volume-of-interest, a pose-information-acquisition-module and a processor. The detector acquires measurements of flux of the magnetic-field at a plurality of poses. The pose-information-acquisition-module measures information related to the pose of the detector. The processor determines pose-related-information respective of at least a portion of the measurements according to the information related to the pose of the detector. The processor estimates the entire set of parameters of a magnetic-field model template according to the magnetic-field flux measurement and the respective poses-related-information thereof. The processor incorporates the entire set of parameters into the magnetic-field model template, thereby determining the magnetic-field model. The entire set of parameters includes the coefficients, the order the number and location of the centers of expansion of the magnetic-field model.

公开(公告)号：US20170115364A1

公开(公告)日：2017-04-27

申请号：US15398316

申请日：2017-01-04

Applicant: Elbit Systems Ltd.

Inventor： Ilan Efrat ,  Evgeni Gurovich ,  Guy Mencel ,  Yoav Ophir ,  Mark Gandelsman

IPC: G01R33/10

CPC classification number: G01R33/10 ,  G01R33/072

Abstract: System for mapping a magnetic-field including a magnetic-field-transmitter, a freestanding magnetic-field-detector operative to freely move within a volume of interest and acquire measurements of the flux of the magnetic-field at a plurality of poses, a pose-information-acquisition-module for measuring information related to the pose of the magnetic-field-detector and a processor, coupled with the magnetic-field-detector and with said pose-information-acquisition-module and determines pose-related-information respective of each of at least a portion of the magnetic-flux-measurements, according to said information related to the pose of said magnetic-field-detector, the processor further estimating the entire set of parameters of a magnetic-field-model-template according to the magnetic-flux-measurements and the respective pose-related-information the magnetic flux measurements, the processor incorporates the entire set of parameters into said magnetic field model template, thereby determining said magnetic field model, the entire set of parameters includes the coefficients, the order, the number and location of the centers of expansion of the model.

公开(公告)号：US08885177B2

公开(公告)日：2014-11-11

申请号：US14085960

申请日：2013-11-21

Applicant: Elbit Systems Ltd.

Inventor： Rani Ben-Yishai ,  Adi Charny ,  Dror Yahav ,  Shahaf Zommer ,  Ilan Efrat

IPC: G01B11/14 ,  G01S3/784 ,  G01S5/16 ,  A61B8/00 ,  G01B11/00 ,  A61B5/06 ,  A61B5/055 ,  A61B6/12 ,  A61B6/00

CPC classification number: G01B11/002 ,  A61B5/055 ,  A61B5/065 ,  A61B5/066 ,  A61B6/12 ,  A61B6/547 ,  A61B8/4254 ,  G01S3/784 ,  G01S5/163

Abstract: A medical Wide-Field-Of-View optical-tracking-system for determining the position and orientation of a target-object in a reference coordinate system. The system includes at least three light-emitters, at least one optical-detector and a processor. The processor is coupled with each optical-detector. One optical-detector is a Wide-Field-Of-View optical detector, which acquires an image of the light-emitters within the field-of-view thereof. Each Wide-Field-Of-View optical-detector includes an optical-sensor and two optical-receptors. The processor determines the position and orientation of the target-object in the reference coordinate system according to representations of the light-emitters. Each light-emitter is within the field-of-view of an optical-detector. Each optical-detector and each light-emitter is attached to one of the target-object and a reference-location. The target-object and the reference-location are respective elements in a tuple including two elements from a group consisting of a display, a patient-body-location, a-medical-tool, physician-body-location, and a fixed-position.

Abstract translation: 一种用于确定参考坐标系中目标物体的位置和取向的医用广视场光学跟踪系统。 该系统包括至少三个光发射器，至少一个光检测器和处理器。 处理器与每个光检测器耦合。 一个光检测器是广视场光检测器，其在其视场内获取发光器的图像。 每个宽视野光学检测器包括光学传感器和两个光学接收器。 处理器根据发光体的表示来确定目标对象在参考坐标系中的位置和方位。 每个发光器在光学检测器的视场内。 每个光学检测器和每个发光器连接到目标物体和参考位置之一。 目标对象和参考位置是元组中的相应元素，包括来自由显示器，患者身体位置，医疗工具，医师身体位置和固定位置组成的组中的两个元件 。

公开(公告)号：US20150204673A1

公开(公告)日：2015-07-23

申请号：US14676244

申请日：2015-04-01

Applicant: ELBIT SYSTEMS LTD.

Inventor： Ari ABRAMSON LIANI ,  Ilan Efrat ,  Ilya Leizerson

IPC: G01C21/12

CPC classification number: G01C21/12 ,  G01C21/20 ,  G01C25/005

Abstract: A method of pedestrian navigation, based on an external positioning system and a Dead Reckoning (DR) system, is provided herein. The method may employ the following steps: obtaining external positioning readings from an external positioning source and DR position readings from a pedestrian-carried platform; estimating an external positioning error, based at least partially on the external positioning and the DR position readings; and applying an estimation function to the external position readings, the DR position readings, and the external positioning errors, to yield a corrected estimated position.

Abstract translation: 本文提供了一种基于外部定位系统和航位推算（DR）系统的行人导航方法。 该方法可以采用以下步骤：从外部定位源获得外部定位读数，并从行人携带平台获取DR位置读数; 至少部分地基于外部定位和DR位置读数来估计外部定位误差; 以及对外部位置读数，DR位置读数和外部定位误差应用估计函数，以产生校正的估计位置。

公开(公告)号：US20140078517A1

公开(公告)日：2014-03-20

申请号：US14085960

申请日：2013-11-21

Applicant: Elbit Systems Ltd.

Inventor： Rani Ben-Yishai ,  Adi Charny ,  Dror Yahav ,  Shahaf Zommer ,  Ilan Efrat

IPC: G01B11/00

CPC classification number: G01B11/002 ,  A61B5/055 ,  A61B5/065 ,  A61B5/066 ,  A61B6/12 ,  A61B6/547 ,  A61B8/4254 ,  G01S3/784 ,  G01S5/163

Abstract: A medical Wide-Field-Of-View optical-tracking-system for determining the position and orientation of a target-object in a reference coordinate system. The system includes at least three light-emitters, at least one optical-detector and a processor. The processor is coupled with each optical-detector. One optical-detector is a Wide-Field-Of-View optical detector, which acquires an image of the light-emitters within the field-of-view thereof. Each Wide-Field-Of-View optical-detector includes an optical-sensor and two optical-receptors. The processor determines the position and orientation of the target-object in the reference coordinate system according to representations of the light-emitters. Each light-emitter is within the field-of-view of an optical-detector. Each optical-detector and each light-emitter is attached to one of the target-object and a reference-location. The target-object and the reference-location are respective elements in a tuple including two elements from a group consisting of a display, a patient-body-location, a-medical-tool, physician-body-location, and a fixed-position.

Abstract translation: 一种用于确定参考坐标系中目标物体的位置和取向的医用广视场光学跟踪系统。 该系统包括至少三个光发射器，至少一个光检测器和处理器。 处理器与每个光检测器耦合。 一个光检测器是广视场光检测器，其在其视场内获取发光器的图像。 每个宽视野光学检测器包括光学传感器和两个光学接收器。 处理器根据发光体的表示来确定目标对象在参考坐标系中的位置和方位。 每个发光器在光学检测器的视场内。 每个光学检测器和每个发光器连接到目标物体和参考位置之一。 目标对象和参考位置是元组中的相应元素，包括来自由显示器，患者身体位置，医疗工具，医师身体位置和固定位置组成的组中的两个元件 。