ALIGNMENT OF MANIPULABLE SENSOR ASSEMBLY
First Claim
1. A method for aligning a manipulable sensor assembly to a desired position and orientation, comprising:
- defining a desired position and orientation for an object relative to a region of interest;
determining a replica surface from the defined position and orientation, representing a field of view of a manipulable sensor assembly associated with the object when the object is located in the desired position and oriented at the desired orientation; and
iteratively repeating the following steps until the object is in the desired position and orientation;
detecting one of electromagnetic radiation and sound reflected from a surface of the region of interest at the manipulable sensor assembly to provide a surface map of the region of interest;
comparing the surface map to the replica surface;
determining at least one of a rotation and a translation for the manipulable sensor assembly to bring the surface map into alignment with the replica surface if the surface map does not match the replica surface; and
altering at least one of the position and the orientation of the object according to the determined at least one of the rotation and the translation if the surface map does not match the replica surface.
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Accused Products
Abstract
A method for aligning a manipulable sensor assembly includes determination of a replica surface, which represents a field of view of a manipulable sensor assembly associated with an object when the object is located in a desired position and oriented at a desired orientation. Electromagnetic radiation and/or sound reflected from a surface of the region of interest is detected to provide a surface map of the region of interest, which is compared to the replica surface to determine a rotation and/or a translation for the manipulable sensor assembly to bring the surface map into alignment with the replica surface. The position and/or the orientation of the object are altered. The detection of reflected electromagnetic radiation or sound, comparison of the surfaces, and alteration of the position and orientation of the object are repeated until the surface map is in alignment with the replica surface.
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Citations
22 Claims
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1. A method for aligning a manipulable sensor assembly to a desired position and orientation, comprising:
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defining a desired position and orientation for an object relative to a region of interest; determining a replica surface from the defined position and orientation, representing a field of view of a manipulable sensor assembly associated with the object when the object is located in the desired position and oriented at the desired orientation; and iteratively repeating the following steps until the object is in the desired position and orientation; detecting one of electromagnetic radiation and sound reflected from a surface of the region of interest at the manipulable sensor assembly to provide a surface map of the region of interest; comparing the surface map to the replica surface; determining at least one of a rotation and a translation for the manipulable sensor assembly to bring the surface map into alignment with the replica surface if the surface map does not match the replica surface; and altering at least one of the position and the orientation of the object according to the determined at least one of the rotation and the translation if the surface map does not match the replica surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for aligning a manipulable sensor assembly to a desired position and orientation, comprising:
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the manipulable sensor assembly, configured to detect one of electromagnetic radiation and sounds reflected from a region of interest to provide a surface map over an associated field of view, the surface map comprising a plurality of feature vectors in a multidimensional space; a non-transitory computer readable medium storing machine executable instructions, the instructions comprising; a replica surface, defined as a plurality of feature vectors in the multidimensional space, representing an expected surface map within the field of view of the manipulable sensor assembly when the sensor assembly is located at the desired position and oriented at the desired orientation; and a registration system configured to compare the surface map and the replica surface to determine if the manipulable sensor assembly is located at the desired position and oriented at the desired orientation; and a feedback component configured to notify a user when the manipulable sensor assembly is located at the desired position and oriented at the desired orientation.
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14. An apparatus for indicating a desired position and orientation with respect to a patient tissue, the apparatus comprising:
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a user interface by which the apparatus can be manipulated by the user; a position indicator carried by the user interface, the position indicator being indicative of a position of at least a portion of the apparatus with respect to the patient tissue surface; an orientation indicator carried by the user interface, the orientation indicator being indicative of an orientation of at least a portion of the apparatus with respect to the patient tissue surface; a manipulable sensor assembly carried by the user interface, the manipulable sensor assembly being operative to detect at least one of electromagnetic radiation and sound reflected from a surface of a region of interest of the patient tissue to provide a surface map of the region of interest; a registration system configured to compare the surface map and a predetermined replica surface to determine if the manipulable sensor assembly is located at the desired position and oriented at the desired orientation; and a feedback component configured to notify a user when the manipulable sensor assembly is located at the desired position and oriented at the desired orientation. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22)
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Specification