METHOD AND APPARATUS FOR AUTOMATIC FREQUENCY SELECTION IN MAGNETIC TRACKING SYSTEMS

    公开(公告)号:US20230089646A1

    公开(公告)日:2023-03-23

    申请号:US17834184

    申请日:2022-06-07

    Applicant: PENUMBRA, INC.

    Abstract: A system and method that can automatically select a frequency of a magnetic field in a magnetic tracking system. A magnetic tracking system emits an alternating magnetic field using a set of three frequencies. In the present approach, a transmitter is capable of generating multiple sets of three frequencies. A processor selects a first set of frequencies to use and causes the receiver to measure the amplitude of the magnetic field at those frequencies. In one embodiment, the frequency set having the lowest energy is selected. The processor then compares an estimated jitter at those frequencies to the actual jitter experienced using the frequencies. If the actual jitter exceeds the estimated jitter by a predetermined amount, the processor switches to a different set of frequencies and causes the receiver to measure the magnetic field at the new set of frequencies. The process may repeat using the additional sets of frequencies.

    Method and apparatus for reducing magnetic tracking error due to floor distortion

    公开(公告)号:US11976921B2

    公开(公告)日:2024-05-07

    申请号:US17834173

    申请日:2022-06-07

    Applicant: PENUMBRA, INC.

    CPC classification number: G01B7/003 G01R33/025

    Abstract: A method and apparatus for reducing magnetic tracking error in the position and orientation determined in a magnetic tracking system having a magnetic field generator. In some embodiments, the measured position and orientation of a sensor is compared to an expected theoretical position and orientation. Any error is assumed to be from “floor distortion,” i.e., eddy currents in the floor caused by the magnetic field generated by the magnetic field transmitter. The floor distortion is modeled as being caused by eddy currents caused by a second magnetic field transmitter that is a reflection of the actual transmitter. An algorithm iteratively searches over a parameter space to minimize the difference between the measured position and orientation and the theoretical position and orientation, and applies a correction to the measured position and orientation. The measurements and corrections of the position and orientation run in real-time with no additional hardware or calibration required.

    METHOD AND APPARATUS FOR REDUCING MAGNETIC TRACKING ERROR DUE TO FLOOR DISTORTION

    公开(公告)号:US20230083524A1

    公开(公告)日:2023-03-16

    申请号:US17834173

    申请日:2022-06-07

    Applicant: PENUMBRA, INC.

    Abstract: A method and apparatus for reducing magnetic tracking error in the position and orientation determined in a magnetic tracking system having a magnetic field generator. In some embodiments, the measured position and orientation of a sensor is compared to an expected theoretical position and orientation. Any error is assumed to be from “floor distortion,” i.e., eddy currents in the floor caused by the magnetic field generated by the magnetic field transmitter. The floor distortion is modeled as being caused by eddy currents caused by a second magnetic field transmitter that is a reflection of the actual transmitter. An algorithm iteratively searches over a parameter space to minimize the difference between the measured position and orientation and the theoretical position and orientation, and applies a correction to the measured position and orientation. The measurements and corrections of the position and orientation run in real-time with no additional hardware or calibration required.

    Method and apparatus for automatic frequency selection in magnetic tracking systems

    公开(公告)号:US11914005B2

    公开(公告)日:2024-02-27

    申请号:US18201361

    申请日:2023-05-24

    Applicant: PENUMBRA, INC.

    CPC classification number: G01R33/0017 G01R33/0088

    Abstract: A system and method that can automatically select a frequency of a magnetic field in a magnetic tracking system. A magnetic tracking system emits an alternating magnetic field using a set of three frequencies. In the present approach, a transmitter is capable of generating multiple sets of three frequencies. A processor selects a first set of frequencies to use and causes the receiver to measure the amplitude of the magnetic field at those frequencies. In one embodiment, the frequency set having the lowest energy is selected. The processor then compares an estimated jitter at those frequencies to the actual jitter experienced using the frequencies. If the actual jitter exceeds the estimated jitter by a predetermined amount, the processor switches to a different set of frequencies and causes the receiver to measure the magnetic field at the new set of frequencies. The process may repeat using the additional sets of frequencies.

    METHOD AND APPARATUS FOR AUTOMATIC FREQUENCY SELECTION IN MAGNETIC TRACKING SYSTEMS

    公开(公告)号:US20230296697A1

    公开(公告)日:2023-09-21

    申请号:US18201361

    申请日:2023-05-24

    Applicant: PENUMBRA, INC.

    CPC classification number: G01R33/0017 G01R33/0088

    Abstract: A system and method that can automatically select a frequency of a magnetic field in a magnetic tracking system. A magnetic tracking system emits an alternating magnetic field using a set of three frequencies. In the present approach, a transmitter is capable of generating multiple sets of three frequencies. A processor selects a first set of frequencies to use and causes the receiver to measure the amplitude of the magnetic field at those frequencies. In one embodiment, the frequency set having the lowest energy is selected. The processor then compares an estimated jitter at those frequencies to the actual jitter experienced using the frequencies. If the actual jitter exceeds the estimated jitter by a predetermined amount, the processor switches to a different set of frequencies and causes the receiver to measure the magnetic field at the new set of frequencies. The process may repeat using the additional sets of frequencies.

    Method and apparatus for automatic frequency selection in magnetic tracking systems

    公开(公告)号:US11693063B2

    公开(公告)日:2023-07-04

    申请号:US17834184

    申请日:2022-06-07

    Applicant: PENUMBRA, INC.

    CPC classification number: G01R33/0017 G01R33/0088

    Abstract: A system and method that can automatically select a frequency of a magnetic field in a magnetic tracking system. A magnetic tracking system emits an alternating magnetic field using a set of three frequencies. In the present approach, a transmitter is capable of generating multiple sets of three frequencies. A processor selects a first set of frequencies to use and causes the receiver to measure the amplitude of the magnetic field at those frequencies. In one embodiment, the frequency set having the lowest energy is selected. The processor then compares an estimated jitter at those frequencies to the actual jitter experienced using the frequencies. If the actual jitter exceeds the estimated jitter by a predetermined amount, the processor switches to a different set of frequencies and causes the receiver to measure the magnetic field at the new set of frequencies. The process may repeat using the additional sets of frequencies.

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