Methods and apparatus for improved electromagnetic tracking and localization
US10285760B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 4, 2016 |
| Grant date | May 14, 2019 |
| Priority date | — |
| Expiry date | Jul 28, 2036 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/2055
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
An apparatus for electromagnetic (EM) tracking or localization is described which includes one or more EM transmitters and receivers (sensors, or trackers), an indication of relative locations of the one or more transmitter and sensor with respect to one or more instrument, optionally, a model of the one or more instrument flexibility, a measurement uncertainty analyzer that reports an uncertainty associated with each measurement, an equation of motion or dynamic model with motion constraints that describes an expected behavior of the one or more instrument, a probabilistic simultaneous localization and mapping (SLAM) algorithm that simultaneously estimates a pose of one or more instrument and updates a field distortion map, or parameters of a field distortion model, a field distortion estimator that uses currently-available information of the field distortion map and estimates field distortion in the vicinity of the one or more instrument, to be used for future measurement compensation, a transient analyzer that constantly observes variations in the field distortion map over time in order to differentiate regions with continuous changes from regions with constant field distortion,…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.