Magnetic field position and orientation measurement system with dynamic eddy current rejection
First Claim
1. A position and orientation measurement system operating in a space and including a fixed source of successive magnetic field pulses and a magnetic sensor movable within said space and adapted to sense rate-of-change of a magnetic field generated by each of said pulses, and including:
- a) eddy current distortion detection means for sensing when a magnetic field generated by eddy currents has dissipated and, responsive to said sensing, stopping transmission of each of said magnetic field pulses, eddy current distortion being caused by eddy currents generated due to presence of metallic material adjacent to and/or in said space;
b) compensation means for dynamically compensating for eddy current distortion including integration means for integrating a signal received from said magnetic sensor from a start of each said magnetic field pulse and reading means for reading an output of said integration means just after said eddy current distortion detection means has sensed dissipation of an eddy current; and
c) computer means for controlling receiving of signals, free of eddy current distortion, from said magnetic sensors and, therefrom, calculating position and orientation of said sensor relative to said fixed source.
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Accused Products
Abstract
The position and orientation of remote sensors is determined using pulsed magnetic fields generated from a fixed location. Pulsed magnetic fields are sequentially generated from a plurality of spatially independent components defining a source coordinate frame. The pulsed magnetic fields are sensed by a remote sensor having a plurality of passive field sensing elements. Eddy current distortions are sensed separately and subtracted by the system. The system measures the effect of metallic objects present in the environment and dynamically adjusts the measured values accordingly. The sensed magnetic fields, free of eddy current distortion, are used in order to calculate the position and orientation of the remote object. The system shortens the duration of pulsed magnetic fields and operates correctly at much further distances for the same energy output as compared to known systems.
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Citations
50 Claims
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1. A position and orientation measurement system operating in a space and including a fixed source of successive magnetic field pulses and a magnetic sensor movable within said space and adapted to sense rate-of-change of a magnetic field generated by each of said pulses, and including:
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a) eddy current distortion detection means for sensing when a magnetic field generated by eddy currents has dissipated and, responsive to said sensing, stopping transmission of each of said magnetic field pulses, eddy current distortion being caused by eddy currents generated due to presence of metallic material adjacent to and/or in said space; b) compensation means for dynamically compensating for eddy current distortion including integration means for integrating a signal received from said magnetic sensor from a start of each said magnetic field pulse and reading means for reading an output of said integration means just after said eddy current distortion detection means has sensed dissipation of an eddy current; and c) computer means for controlling receiving of signals, free of eddy current distortion, from said magnetic sensors and, therefrom, calculating position and orientation of said sensor relative to said fixed source. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A position and orientation measurement system operating in a space and including a fixed source of successive magnetic field pulses and a magnetic sensor movable within said space and adapted to sense rate-of-change of a magnetic field generated by each of said pulses, said magnetic field having a time component of rising energy followed by a time component of falling energy, said system comprising:
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a) eddy current distortion detection means for sensing when a magnetic field generated by said eddy currents has dissipated and, responsive to said sensing, controlling a time between successive ones of said magnetic field pulses, said eddy currents being generated due to presence of metallic material adjacent to and/or in said space; b) compensation means for dynamically compensating for eddy current distortion generated responsive to activation of said source of successive magnetic field pulses, including means for performing a first integration of a signal from said magnetic sensor from a start of a said magnetic pulse and reading a first output of said first integration when said magnetic pulse has reached its maximum value and performing a second parallel integration of said signal from said magnetic sensor from the start of said magnetic pulse and reading a second output of said second integration, when said magnetic pulse has ended; and c) computer means for controlling receiving of said two outputs and subtracting said second output from said first output and thereby forming a net signal, free of eddy field distortion and, therefrom, calculating position and orientation of said sensor relative to said fixed source. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A method of determining the position and orientation of a magnetic sensor within a space including the steps of:
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a) positioning said sensor within said space; b) emitting successive magnetic field pulses within said space; c) receiving signals from said sensor related to (i) rate-of-change of a magnetic field generated by each of said pulses, and (ii) eddy current distortion generated due to presence of metallic material adjacent to and/or in said space; d) detecting when the magnetic field due to said eddy currents has dissipated and, responsive to said detection, stopping transmission of each of said magnetic field pulses; e) dynamically compensating for said eddy current distortion by integrating a signal from said magnetic sensor from a start of each of said pulses and reading output of said integration just after said eddy current has dissipated; and f) controlling receiving of said signals, free of eddy field distortion, from said magnetic sensors and, therefrom, calculating position and orientation of said sensor relative to said fixed source. - View Dependent Claims (19, 20)
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21. A position and orientation measurement system operating in a space and including a fixed source of successive magnetic field pulses and a magnetic sensor movable within said space and adapted to sense rate-of-change of a magnetic field generated by each of said magnetic field pulses, each of said magnetic field pulses having a time component of rising energy followed by a brief time component of steady state energy followed by a time component of falling energy including:
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a) eddy current distortion detection means for sensing when a magnetic field generated by said eddy currents has dissipated and, responsive to said sensing, controlling time spacing between successive ones of said magnetic field pulses, said eddy currents being generated due to presence of metallic material adjacent to and/or in said space; b) compensation means for dynamically compensating for eddy current distortion including means for performing a first integration of a signal received from said magnetic sensor from a start of each of said pulses and reading a first output of said first integration at a start of said time component of steady state energy and means for performing a second parallel integration of said signal from said magnetic sensor from a start of the time component of steady state energy and reading a second output of said second integration at an end of the time component of steady state energy; and c) computer means for controlling receiving of said first and second outputs, subtracting said second output multiplied by a proportionality factor from said first output and thereby forming a net signal, free of eddy field distortion and, therefrom, calculating position and orientation of said sensor relative to said fixed source. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A position and orientation measurement system operating in a space and including a fixed source of successive magnetic field pulses and a magnetic sensor movable within said space and adapted to sense rate-of-change of a magnetic field generated by each of said pulses, said magnetic field having a time component of rising energy followed by a time component of falling energy including:
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a) eddy current distortion detection means sensing when a magnetic field generated by eddy currents has dissipated and, responsive to said sensing, controlling a time interval between successive ones of said magnetic field pulses, said eddy currents being generated due to presence of metallic material adjacent to and/or in said space; b) compensation means for dynamically compensating for eddy current distortion generated responsive to activation of said source of magnetic field pulses, said compensation means performing a first integration of a signal from said magnetic sensor from a start of each of said magnetic pulses and performing a second integration of an output of said first integration from the start of each of said magnetic pulses and reading an output of said second integration when said eddy current distortion detection means detects that eddy current distortion has dissipated; and c) computer means for controlling receiving of signals free of eddy field distortion and, therefrom, calculating the position and orientation of said sensor relative to said fixed source. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38)
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39. A position and orientation measurement system operating in a space and including a fixed source of successive magnetic field pulses and a magnetic sensor movable within said space and adapted to sense rate-of-change of a magnetic field generated by each of said magnetic field Pulses, said magnetic field having a time component of rising energy followed by a time component of falling energy, said system including:
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a) eddy current distortion detection means sensing when magnetic field generated by eddy currents has dissipated and, responsive to said sensing, controlling time between successive ones of said magnetic field pulses, said eddy currents being generated due to presence of metallic material adjacent to and/or in said space; b) compensation means for dynamically compensating for eddy current distortion generated responsive to said source of magnetic field, said compensation means performing a first sample-and-hold of a signal received from said magnetic sensor just before each respective one of said magnetic field pulses reaches its maximum energy and performing a second sample-and-hold of said signal from said magnetic sensor just after said respective magnetic pulse has started to drop from its maximum energy; and c) computer means for controlling receiving of data resulting from said first and second sampling and holding of said signal and subtracting data from said second sample and hold from data from said first sample and hold signal and thereby forming a net signal, free of eddy field distortion and, therefrom, calculating position and orientation of said sensor relative to said fixed source. - View Dependent Claims (40, 41, 42, 43, 44)
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45. A position and orientation measurement system operating in a space and including a fixed source of successive magnetic field pulses and a magnetic sensor movable within said space and adapted to sense rate-of-change of a magnetic field generated by each of said magnetic field pulses, said magnetic field having a time component of rising energy followed by a time component of falling energy, said system comprising:
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a) eddy current distortion detection means for sensing when a magnetic field generated by said eddy currents has dissipated and, responsive to said sensing, controlling a time interval between successive ones of said magnetic field pulses, said time interval occurring before said eddy current has fully dissipated; b) compensation means for dynamically compensating for eddy current distortion generated responsive to said source of magnetic field, said compensation means performing a first integration of a signal from said magnetic sensor from a start of each of said magnetic field pulses and said compensation means reading an output of said first integration when said magnetic pulse has reached its maximum value and performing a second parallel integration of said signal from said magnetic sensor from the start of said magnetic pulse and reading an output of said second integration, when said magnetic pulse has concluded; and c) computer means for controlling receiving of said two outputs and subtracting said second output from said first output and thereby forming a net signal, free of eddy field distortion and, therefrom, calculating position and orientation of said sensor relative to said fixed source.
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46. A method of determining the position and orientation of a magnetic sensor within a space including the steps of:
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a) positioning said sensor within said space; b) emitting successive magnetic field pulses having a time component of rising energy followed by a brief time component of steady state energy followed by a time component of falling energy; c) receiving signals from said sensor related to (i) rate-of-change of a magnetic field generated by each of said magnetic field pulses, and (ii) eddy current distortion generated due to presence of metallic material adjacent to and/or in said space; d) detecting when a magnetic field generated by said eddy current has dissipated and, responsive to said detection, stopping transmission of each of said magnetic field pulses; e) compensating dynamically for eddy current distortion generated responsive to operation of said source of said magnetic field pulses, including the step of performing a first integration of a signal from said magnetic sensor from a start of each successive one of said magnetic pulses and reading a first output of said first integration at a start of the steady state and performing a second integration of said signal from said magnetic sensor from a start of steady state and reading a second output of said integration at an end of the steady state; f) controlling receiving of said outputs resulting from said integrations, subtracting said second output multiplied by a proportionality factor from said first output and thereby forming a net signal, free of eddy field distortion and, therefrom, calculating position and orientation of said sensor relative to said fixed source.
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47. A method of determining the position and orientation of a magnetic sensor within a space including the steps of:
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a) positioning said sensor within said space; b) emitting successive magnetic field pulses having a time component of rising energy followed by a time component of falling energy, within said space; c) receiving signals from said sensor related to (i) rate-of-change of a magnetic field generated by successive ones of said magnetic field pulses, and (ii) eddy current distortion generated due to presence of metallic material adjacent to and/or in said space; d) detecting when a magnetic field portion generated by eddy currents has dissipated and, responsive to said detection, stopping transmission of each of said magnetic field pulses; e) dynamically compensating for eddy current distortion generated responsive to operation of said source of magnetic field pulses, by performing a first integration of a signal from said magnetic sensor from a start of each of said magnetic field pulses and reading a first output of said first integration when each of said magnetic field pulses has reached its maximum value and performing a second integration of said signal from said magnetic sensor from a start of each of said magnetic field pulses and reading a second output of said second integration, when said magnetic pulse has concluded; f) controlling receiving of said two outputs and subtracting said second output from said first output and thereby forming a signal, free of eddy field distortion and, therefrom, calculating position and orientation of said sensor relative to said fixed source.
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48. A method of determining the position and orientation of a magnetic sensor within a space including the steps of:
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a) positioning said sensor within said space; b) emitting successive magnetic field pulses each having a time component of rising energy followed by a time component of falling energy, within said space; c) receiving signals from said sensor related to (i) rate-of-change of a magnetic field generated by each of said magnetic field pulses, and (ii) eddy current distortion generated due to presence of metallic material adjacent to and/or in said space; d) detecting when a magnetic field generated by said eddy current has dissipated and, responsive to said detection, stopping transmission of each of said magnetic field pulses; e) dynamically compensating for eddy current distortion generated responsive to said source of magnetic field, by performing a first integration of a signal from said magnetic sensor from a start of each of said magnetic field pulses and reading a first output, and performing a second integration of said first output of said first integration from said start of each of said magnetic field pulses and reading a second output of said second integration when said eddy current distortion has dissipated; f) controlling receiving of said second output, free of eddy field distortion and, therefrom, calculating position and orientation of said sensor relative to said fixed source.
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49. A method of determining the position and orientation of a magnetic sensor within a space including the steps of:
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a) positioning said sensor within said space; b) emitting successive magnetic field pulses each having a time component of rising energy followed by a time component of falling energy, within said space; c) receiving signals from said sensor related to (i) rate-of-change of each of said magnetic field pulses, and (ii) eddy current distortion generated due to presence of metallic material adjacent to and/or in said space; d) detecting when a magnetic field generated by said eddy current has dissipated and, responsive to said detection, stopping transmission of each of said magnetic field pulses; e) dynamically compensating for said eddy current distortion generated responsive to said source of magnetic field pulses, by performing a first sample-and-hold of a signal from said magnetic sensor just before a magnetic field pulse reaches its maximum energy and performing a second sample-and-hold of said signal just after said magnetic field pulse has started to drop from its maximum energy; f) controlling receiving of said data resulting from said first and second sampling and holding of said signal and subtracting said data from said second sample-and-hold from data from said first sample-and-hold and thereby forming a net signal, free of eddy field distortion and, therefrom, calculating position and orientation of said sensor relative to said fixed source.
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50. A method of determining the position and orientation of a magnetic sensor within a space including the steps of:
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a) positioning said sensor within said space; b) emitting successive magnetic field pulses having a time component of rising energy followed by a time component of falling energy, within said space; c) receiving signals from said sensor related to (i) rate-of-change of a magnetic field generated by each of said magnetic field pulses, and (ii) eddy current distortion generated due to presence of metallic material adjacent to and/or in said space; d) sensing when a magnetic field generated by eddy current has dissipated and, responsive to said sensing, controlling a time interval between successive ones of said magnetic field pulses, said time interval being before said eddy current has fully dissipated; e) dynamically compensating for eddy current distortion generated responsive to said source of magnetic field pulses, by performing a first integration of a signal from said magnetic sensor from a start of a said magnetic field pulse and reading a first output of said first integration when said magnetic field pulse has reached its maximum value and performing a second integration of said signal from said magnetic sensor from a start of said magnetic field pulse and reading a second output of said second integration, when said magnetic field pulse has concluded; f) controlling receiving of said outputs and subtracting said second output from said first output and thereby forming a net signal, free of eddy field distortion and, therefrom, calculating position and orientation of said sensor relative to said fixed source.
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Specification