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Apparatus for determining the position and orientation of an invasive portion of a probe inside a three-dimensional body

  • US 5,622,170 A
  • Filed: 10/04/1994
  • Issued: 04/22/1997
  • Est. Priority Date: 10/19/1990
  • Status: Expired due to Term
First Claim
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1. Apparatus for determining the position and orientation of an invasive portion of a probe inside a three-dimensional body, wherein the probe includes an external portion that remains outside the body, comprising:

  • means defining a coordinate system wherein the three dimensional body is adapted to be disposed within said coordination system;

    means defining an electronically displayable model of said body;

    a probe comprising a portion adapted to be external to said three dimensional body and an invasive portion adapted to be internal to said three dimensional body;

    at least two probe light emitters mounted in spaced relationship on the external portion of the probe each for projecting a probe light ray;

    at least three light sensors, in known locations within said defined coordinate system, remotely located from the probe for detecting at least two probe light rays;

    means to cause probe light rays to pass between said probe light emitters and said at least three light sensors which are non-linear with respect to each other;

    means to measure angles between said probe light beams to at least three of said light sensors; and

    means coupled to said at least three light sensors for converting said angles to current locations of said probe light emitters and, from said locations, determining the position and orientation of the probe relative to said defined coordinate system and for deducing the position and orientation of the invasive portion of the probe by correlating the position and orientation of the probe relative to the defined coordinate system.

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